DESIGN AND IMPLEMENTATION OF A SMART ROBOTIC SHARK WITH MULTI-SENSORS

被引：0

作者：

Chen, Shifeng ^{[1
]}

Yu, Junzhi ^{[1
]}

Li, Xiangbin ^{[1
]}

Yuan, Jun ^{[1
]}

机构：

[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

来源：

ASSISTIVE ROBOTICS | 2016年

关键词：

Robotic shark; CPG; Multi-Sensors; Motion control;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Smart intelligent robotic fish has shown promising advantage in underwater searching. This paper addresses the smart robotic shark design and control issues with multi-sensors. In particular, we propose a new design of a two-link mechanism robotic shark equipped with gyroscope, pressure sensor, infrared sensor, and light sensor. Then three-dimensional motion control, depth control, autonomous obstacle avoidance, and light navigation are developed. In particular, a bio-inspired Central Pattern Generator (CPG) based control method is adopted to smoothly control the robotic shark's locomotion in all the above realization. All motion control methods are implemented in real time with a hybrid control system based on embedded microprocessor (STMicroelectronics STM32F407). Latest aquatic experiments demonstrate a fairly good result in improving the robotic shark's intelligence. The developed scheme affords an alternative to smart robotic fish design in complex underwater environments.

引用

页码：199 / 206

页数：8

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