IWSCR: An intelligent water surface cleaner robot for collecting floating garbage | |
Kong SH(孔诗涵) | |
刊名 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
2020 | |
期号 | 暂无页码:暂无 |
关键词 | Deep learning grasping strategy intelligent water surface cleaner robot system sliding-mode controller (SMC) |
英文摘要 | In this article, a robot system for intelligent water surface cleaner named IWSCR is developed to collect float ing plastic garbage. It is able to accomplish three major tasks autonomously, i.e., cruise and detection, tracking and steering, and grasping and collection. The challenges behind these tasks involve how to realize the accurate and real-time garbage detec tion, how to resist the disturbances while IWSCR conducts vision-based steering, and how to grasp the floating garbage reli ably despite the turbulent conditions on the surface of the water. To overcome these difficulties, three key techniques are proposed for IWSCR. First, the YOLOv3 network, which is widely applied in the high speed and accuracy object detection field, is trained on the proposed floating garbage dataset to realize accurate and real time garbage detection. Next, to improve the ability of resisting disturbances, a control law based on the sliding-mode controller is proposed for vision-based steering. Furthermore, inspired by the stability of floating bottles in fluid, a feasible grasping strategy is utilized for IWSCR. Finally, the experimental results demon strate that IWSCR is competent to carry out the task of water surface cleaning. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/44902] |
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 |
推荐引用方式 GB/T 7714 | Kong SH. IWSCR: An intelligent water surface cleaner robot for collecting floating garbage[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2020(暂无):暂无. |
APA | Kong SH.(2020).IWSCR: An intelligent water surface cleaner robot for collecting floating garbage.IEEE Transactions on Systems, Man, and Cybernetics: Systems(暂无),暂无. |
MLA | Kong SH."IWSCR: An intelligent water surface cleaner robot for collecting floating garbage".IEEE Transactions on Systems, Man, and Cybernetics: Systems .暂无(2020):暂无. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论