Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins

doi:10.1109/TSMC.2019.2944753

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

	Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins
	Liu, Jincun 1; Wu, Zhengxing 2; Yu, Junzhi 1,2; Xue, Zhibin 3
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2021-08-01
卷号	51 期号:8 页码:4782-4792
关键词	Dolphins Robot kinematics Path planning Target tracking Turning Task analysis Behavior based biomimetic robotic dolphin cooperative target tracking rapidly exploring random tree (RRT)
ISSN号	2168-2216
DOI	10.1109/TSMC.2019.2944753
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	This article proposes a modified rapidly exploring random tree (RRT)-based path planner and behavior-based cooperative tracking strategy for a dual robotic dolphin system to fulfill a cooperative target-tracking task. Specifically, with full consideration of both task requirements and mechatronic configuration, a robotic dolphin with a waist-caudal propulsive mechanism for thrust forces and differential bilateral flippers for maneuverability is developed. To satisfy the demand of fast path planning, a variant RRT algorithm is employed to generate feasible paths for the dual robotic dolphins with fewer waypoints, faster convergence speed, and better stability. Furthermore, a behavior-based approach in conjunction with centralized architecture is implemented to achieve high-level decision-making. Finally, simulations, analysis, as well as field experiments are carried out to verify the effectiveness of the proposed control scheme. The success of the experiments further offers insight into the mechanisms of cooperative multirobot target tracking in aquatic environments.
资助项目	National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; Pre-Research Fund of Equipment of China[61402070304] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS关键词	FISH
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000673624500016
资助机构	National Natural Science Foundation of China ; Pre-Research Fund of Equipment of China ; Key Research and Development and Transformation Project of Qinghai Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45520]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Qinghai Univ, Coll Chem Engn, Xining 810016, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,et al. Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(8):4782-4792.
APA	Liu, Jincun,Wu, Zhengxing,Yu, Junzhi,&Xue, Zhibin.(2021).Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(8),4782-4792.
MLA	Liu, Jincun,et al."Cooperative Target Tracking in Aquatic Environment Using Dual Robotic Dolphins".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.8(2021):4782-4792.