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

被引：37

作者：

Wang, Rui ^{[1
]}

Wang, Shuo ^{[1
,2
,3
]}

Wang, Yu ^{[1
]}

Cai, Mingxue ^{[1
,2
]}

Tan, Min ^{[1
,2
]}

机构：

[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

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2019年 / 66卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Autonomous hovering; biomimetic underwater robot; dual fins; undulatory propulsion; visual servoing; TRACKING CONTROL; VEHICLE; DESIGN; MOTION;

D O I：

10.1109/TIE.2018.2886755

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：8578 / 8588

页数：11

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