Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish
文献类型：期刊论文
| 作者 | Dong, Huijie3,4 ; Wu, Zhengxing1,3; Wang, Jian1,3; Chen, Di1,3; Tan, Min1,3; Yu, Junzhi2,3,5
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2023-07-01 |
| 卷号 | 70期号:7页码:7023-7031 |
| ISSN号 | 0278-0046 |
| 关键词 | Robots Visualization Tail Shape Batteries Cameras Buoyancy Autonomous docking gliding robotic fish motion control underwater energy supplementation underwater robotics |
| DOI | 10.1109/TIE.2022.3201329 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | Underwater energy supplements for autonomous underwater vehicles (AUVs) are significant for ocean exploitation owing to energy storage and data communication limitations. Aiming at the energy supplement for bionic robotic fish, an autonomous recharging-oriented docking approach is proposed in this article. First, an omnidirectional docking system containing a supporting robotic fish capable of visual recognition and wireless charging and a docking platform is presented. Next, five locomotive modes are designed and analyzed based on the hybrid swimming and gliding patterns for the robot fish. Utilizing the five modes, a docking procedure is planned, and an onboard-visual-based autonomous docking control strategy is presented. Aquatic experiments, including docking with the platform and refloating a small robot, are performed to verify the effectiveness of the proposed approach. The obtained results offer valuable insights into the development of autonomous docking of bionic robots, laying a solid foundation for the permanent operation of various underwater devices and robots. |
| WOS关键词 | UNDERWATER ; SYSTEM ; DESIGN |
| 资助项目 | National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62073196] ; National Natural Science Foundation of China[61836015] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134] ; Youth Innovation Promotion Association CAS[2019138] ; Beijing Nova Program[Z201100006820078] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000967125200001 |
| 资助机构 | National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research ; Youth Innovation Promotion Association CAS ; Beijing Nova Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53459]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Taiyuan Univ Technol, Key Lab Adv Transducers & Intelligent Control Syst, Minist Educ, Taiyuan 030024, Peoples R China 5.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Dong, Huijie,Wu, Zhengxing,Wang, Jian,et al. Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(7):7023-7031. |
| APA | Dong, Huijie,Wu, Zhengxing,Wang, Jian,Chen, Di,Tan, Min,&Yu, Junzhi.(2023).Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(7),7023-7031. |
| MLA | Dong, Huijie,et al."Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.7(2023):7023-7031. |
入库方式： OAI收割
来源：自动化研究所
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