Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II

doi:10.1109/TIE.2018.2886755

	Vision-Based Autonomous Hovering for the Biomimetic Underwater Robot-RobCutt-II
	Wang, Rui1 ; Wang, Shuo1,2,3 ; Wang, Yu1 ; Cai, Mingxue 1,2; Tan, Min1,2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	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.