Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora
文献类型：期刊论文
| 作者 | Zhang, Pengfei3,4 ; Wu, Zhengxing3,4; Chen, Di3,4; Tan, Min3,4; Yu, Junzhi1,2,4
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2024-03-01 |
| 卷号 | 71期号:3页码:2893-2902 |
| ISSN号 | 0278-0046 |
| 关键词 | Autonomous control bioinspired adhesion robotic fish underwater visual localization |
| DOI | 10.1109/TIE.2023.3265053 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | Remora suckerfish and its hitch-hiking behavior bring enormous inspiration into the engineering field. In this article, a bioinspired hitch-hiking behavior is accomplished automatically by a robotic remora, which creates possibilities for prolonging its endurance and multirobot cooperation. First, the definition of the hitch-hiking task and the mechatronic design of robotic remora are introduced. Then, aiming at the hitch-hiking task, the LED-marker-based underwater visual localization method and planar state synchronization controller are developed. The localization method includes a complete framework from LED detection to marker pose optimization, which considers the refraction correction to improve the localization precision in water. The synchronization controller is decomposed into the lateral and longitudinal subcontrollers to overcome the challenges caused by underactuated dynamic. Besides, a finite state machine is designed to model the state and action transition during the hitch-hiking task. Extensive experimental results demonstrate the effectiveness of the proposed method. The autonomous hitch-hiking task toward a moving host is successfully implemented by a robotic fish for the first time. Such results may offer valuable insights into the future autonomous operation of underwater robots. |
| WOS关键词 | ACCURATE |
| 资助项目 | National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62273351] ; National Natural Science Foundation of China[T2121002] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134] |
| 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:001080899800068 |
| 资助机构 | National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54340]  |
| 专题 | 复杂系统认知与决策实验室 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 2.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Pengfei,Wu, Zhengxing,Chen, Di,et al. Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2024,71(3):2893-2902. |
| APA | Zhang, Pengfei,Wu, Zhengxing,Chen, Di,Tan, Min,&Yu, Junzhi.(2024).Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,71(3),2893-2902. |
| MLA | Zhang, Pengfei,et al."Autonomous Dynamic Hitch-Hiking Control of a Bionic Robotic Remora".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71.3(2024):2893-2902. |
入库方式： OAI收割
来源：自动化研究所
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