Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle | |
Li Ji-Yong1; Zhou Hao1; Huang Hai1; Yang Xu2![]() | |
刊名 | IEEE ACCESS
![]() |
2018 | |
卷号 | 6页码:73871-73884 |
关键词 | Remotely operated vehicle vision servo control target recognition |
ISSN号 | 2169-3536 |
DOI | 10.1109/ACCESS.2018.2880413 |
通讯作者 | Huang Hai(haihus@163.com) |
英文摘要 | Robot machine capture protein seafood like sea cucumber and seashell is expected to play a great role in food economy improvement and divers protection. In order to realize robot capture, a sea organism absorptive type remotely operated vehicle (ROV) has been designed with the pilot operation and vision-based autonomous capture modes. A novel region-based fully convolutional network with deformable convolutional networks has been developed to realize organism target recognition. The comparisons in offline experiments have verified its advantages. In order to realize organism target following and capture control, a novel learning-based type-II fuzzy controller has been developed. Through online fuzzy rule optimization and learning, the controller can realize organism target following and capture control under image coordinate without vehicle horizontal velocity or position information in the complicated submarine environment. Field trials have been made in the Zhangzidao Island of China with the designed absorptive type ROV. The trials manifest that the designed absorptive type ROV can realize online organism target recognition, following and capture in the real submarine environment. |
资助项目 | National Natural Science Foundation of China[61633009] ; National Natural Science Foundation of China[51579053] ; National Natural Science Foundation of China[5129050] ; National Natural Science Foundation of China[51779052] ; National Natural Science Foundation of China[51779059] ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan[15JC1403300] ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund[61403120301] |
WOS关键词 | UNDERWATER ; MANIPULATION ; TRACKING ; ROBOTS ; NAVIGATION |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
语种 | 英语 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS记录号 | WOS:000454366000001 |
资助机构 | National Natural Science Foundation of China ; Key Basic Research Project of Shanghai Science and Technology Innovation Plan ; Field Fund of the 13th Five-Year Plan for the Equipment Pre-Research Fund |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/25647] ![]() |
专题 | 中国科学院自动化研究所 |
通讯作者 | Huang Hai |
作者单位 | 1.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Heilongjiang, Peoples R China 2.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 | Li Ji-Yong,Zhou Hao,Huang Hai,et al. Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle[J]. IEEE ACCESS,2018,6:73871-73884. |
APA | Li Ji-Yong,Zhou Hao,Huang Hai,Yang Xu,Wan Zhaoliang,&Wan Lei.(2018).Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle.IEEE ACCESS,6,73871-73884. |
MLA | Li Ji-Yong,et al."Design and Vision Based Autonomous Capture of Sea Organism With Absorptive Type Remotely Operated Vehicle".IEEE ACCESS 6(2018):73871-73884. |
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