Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II | |
Wang, Rui1![]() ![]() ![]() ![]() | |
刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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2019-11-01 | |
卷号 | 66期号:11页码:8578-8588 |
关键词 | Autonomous hovering biomimetic underwater robot dual fins undulatory propulsion visual servoing |
ISSN号 | 0278-0046 |
DOI | 10.1109/TIE.2018.2886755 |
通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) ; Wang, Yu(yu.wang@ia.ac.cn) |
英文摘要 | This paper aims to investigate the method of autonomous hovering control for the biomimetic underwater robot named RobCutt-II. First, a modular configuration for mimicry of undulatory propulsion is presented, followed by a coordinated control of dual fins for enhancing the maneuverability and stability of the RobCutt-II. Then the vision-based hovering problem is formulated. A dual-loop hovering control framework integrating an image processing module, a tracking differentiator, a hovering controller, a velocity controller, and a fuzzy-based control allocation module is proposed to govern the locomotion of the RobCutt-II. Finally, simulations and experimental results demonstrate the effectiveness of the proposed mechanical design and control methods. |
资助项目 | National Key Research and Development Program of China[2017YFB1300103] ; National Natural Science Foundation of China[U1713222] |
WOS关键词 | TRACKING CONTROL ; VEHICLE ; DESIGN ; MOTION |
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:000474570200027 |
资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/26837] ![]() |
专题 | 中国科学院自动化研究所 |
通讯作者 | Wang, Shuo; Wang, Yu |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China |
推荐引用方式 GB/T 7714 | Wang, Rui,Wang, Shuo,Wang, Yu,et al. Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(11):8578-8588. |
APA | Wang, Rui,Wang, Shuo,Wang, Yu,Cai, Mingxue,&Tan, Min.(2019).Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(11),8578-8588. |
MLA | Wang, Rui,et al."Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.11(2019):8578-8588. |
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