Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition
	Yu, Junzhi 1; Wang, Chen 3; Xie, Guangming 3; Yu, Junzhi
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2016-02-01
卷号	63 期号:2 页码:1280-1288
关键词	Coordination control multirobot system robotic fish underwater robot competition
通讯作者	Yu, Junzhi
英文摘要	This paper is concerned with the coordination control of multiple biomimetic robotic fish in highly dynamic aquatic environments by building a hybrid centralized system. With the aid of the results of biorobotics and control techniques, a radio-controlled multijoint robotic fish and its locomotion control are developed. To enable a closed control loop, a visual subsystem that is responsible for tracking of multiple moving objects is constructed and implemented in real time. Furthermore, a behavior-based hierarchical architecture in conjunction with fuzzy reinforcement learning is proposed toaccomplish effective coordination among multiple swimming robots. Finally, experiments on 2vs2 water polo game are carried out to verify the proposed coordination control scheme. Over the past eight years, this multirobot platform has been successfully applied to international underwaterrobot competitions to promote innovative research and education in underwater robotics.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	LOCOMOTION CONTROL ; FUZZY CONTROLLER ; OSCILLATORS ; SYSTEMS ; DESIGN
收录类别	SCI
语种	英语
WOS记录号	WOS:000369990300057
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/11340]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Yu, Junzhi
作者单位	1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3. Intelligent Control Laboratory, College of Engineering, Peking University, Beijing, China
推荐引用方式 GB/T 7714	Yu, Junzhi ,Wang, Chen ,Xie, Guangming ,et al. Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(2):1280-1288.
APA	Yu, Junzhi ,Wang, Chen ,Xie, Guangming ,&Yu, Junzhi.(2016).Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(2),1280-1288.
MLA	Yu, Junzhi ,et al."Coordination of Multiple Robotic Fish With Applications to Underwater Robot Competition".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.2(2016):1280-1288.