Underwater cave search and entry using a robotic fish with embedded vision

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Underwater cave search and entry using a robotic fish with embedded vision
	Chen, Shi-Feng; Yu, Jun-Zhi
	2014
会议名称	Proceedings of the 33rd Chinese Control Conference, CCC 2014
会议日期	July 28, 2014 - July 30, 2014
会议地点	Nanjing, China
关键词	Biomimetic robotic fish, underwater vision detection
通讯作者	Chen, Shi-Feng
英文摘要	Underwater cave exploration has always been a tough problem for autonomous underwater vehicles. As a primary step towards this problem, we explore the underwater cave search and entry with a free-swimming robotic fish characterized by flexible control and embedded vision. In particular, we use a colored ring instead of the cave and acquire its contour by its binary image. Then we propose an algorithm combining the Meanshift algorithm with the bump characteristic of the ring contour to eliminate the mirror image effects and background interference. Eventually a bio-inspired Central Pattern Generator control method is adopted to smoothly drive the robotic fish to swim towards the ring. All proposed algorithms are implemented in real time with a hybrid control system consisting of two embedded microprocessors (TI DM3730 and STMicroelectronics STM32F407). Preliminary aquatic experiments demonstrate that a fairly good exploration effect is resulted and the interference caused by mirror image effect and background is largely eliminated. The proposed robotic fish-based scheme offers an alternative to cave exploration in complex aquatic environments.
会议录	Proceedings of the 33rd Chinese Control Conference, CCC 2014
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13045]
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	Chen, Shi-Feng,Yu, Jun-Zhi. Underwater cave search and entry using a robotic fish with embedded vision[C]. 见:Proceedings of the 33rd Chinese Control Conference, CCC 2014. Nanjing, China. July 28, 2014 - July 30, 2014.