Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish

doi:10.1109/TIE.2022.3201329

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish
	Dong, Huijie 1,5; Wu, Zhengxing 4,5; Wang, Jian 4,5; Chen, Di 4,5; Tan, Min 4,5; Yu, Junzhi 2,3,5
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-07-01
卷号	70 期号:7 页码:7023-7031
关键词	Robots Visualization Tail Shape Batteries Cameras Buoyancy Autonomous docking gliding robotic fish motion control underwater energy supplementation underwater robotics
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3201329
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	Underwater energy supplements for autonomous underwater vehicles (AUVs) are significant for ocean exploitation owing to energy storage and data communication limitations. Aiming at the energy supplement for bionic robotic fish, an autonomous recharging-oriented docking approach is proposed in this article. First, an omnidirectional docking system containing a supporting robotic fish capable of visual recognition and wireless charging and a docking platform is presented. Next, five locomotive modes are designed and analyzed based on the hybrid swimming and gliding patterns for the robot fish. Utilizing the five modes, a docking procedure is planned, and an onboard-visual-based autonomous docking control strategy is presented. Aquatic experiments, including docking with the platform and refloating a small robot, are performed to verify the effectiveness of the proposed approach. The obtained results offer valuable insights into the development of autonomous docking of bionic robots, laying a solid foundation for the permanent operation of various underwater devices and robots.
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62073196] ; National Natural Science Foundation of China[61836015] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134] ; Youth Innovation Promotion Association CAS[2019138] ; Beijing Nova Program[Z201100006820078]
WOS关键词	UNDERWATER ; SYSTEM ; DESIGN
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:000967125200001
资助机构	National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research ; Youth Innovation Promotion Association CAS ; Beijing Nova Program
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53459]
专题	多模态人工智能系统全国重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Taiyuan Univ Technol, Key Lab Adv Transducers & Intelligent Control Syst, Minist Educ, Taiyuan 030024, Peoples R China 2.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.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	Dong, Huijie,Wu, Zhengxing,Wang, Jian,et al. Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(7):7023-7031.
APA	Dong, Huijie,Wu, Zhengxing,Wang, Jian,Chen, Di,Tan, Min,&Yu, Junzhi.(2023).Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(7),7023-7031.
MLA	Dong, Huijie,et al."Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.7(2023):7023-7031.