Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer

doi:10.1109/TSMC.2019.2963246

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

	Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer
	Yu, Junzhi 1,2,3; Wu, Zhengxing 2,3; Yang, Xiang 2,3; Yang, Yueqi 2,3; Zhang, Pengfei 2,3
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2021-10-01
卷号	51 期号:10 页码:6523-6534
关键词	Cameras Robot vision systems Target tracking Oscillators Sports Active visual tracking camera stabilizer reinforcement learning (RL) robotic fish underwater target tracking
ISSN号	2168-2216
DOI	10.1109/TSMC.2019.2963246
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	Implementing underwater target tracking remains difficult for a free-swimming robotic fish owing to the intrinsically reciprocating motion in fishlike propulsion. In this article, we present a novel robotic fish platform with a camera stabilizing system and achieve real-time two-dimensional target tracking assisted by reinforcement learning (RL) in continuous environments. More specifically, we first develop an active visual tracking system based on cascade control structure to obtain the relative orientation between the robotic fish and the underwater target. Then, we propose a target tracking controller dealing with continuous state and action spaces based on deep RL (DRL). The controller takes the position of the target object as input and yields the motion parameters of the bioinspired central pattern generator governed robotic fish. The robustness and adaptability of the proposed controller as well as the influence of time-delays on the control system are explored via simulated experiments under different scenarios. Finally, both static and dynamic tracking experiments on the actual robotic fish demonstrate the effectiveness of the proposed mechatronic design and control methods, providing insights to executing aquatic vision-based tracking tasks.
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61973303] ; Preresearch Fund of Equipment of China[61402070304]
WOS关键词	MOTION CONTROL ; MODES
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:000696079100059
资助机构	National Natural Science Foundation of China ; Preresearch Fund of Equipment of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46037]
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, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Wu, Zhengxing,Yang, Xiang,et al. Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2021,51(10):6523-6534.
APA	Yu, Junzhi,Wu, Zhengxing,Yang, Xiang,Yang, Yueqi,&Zhang, Pengfei.(2021).Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,51(10),6523-6534.
MLA	Yu, Junzhi,et al."Underwater Target Tracking Control of an Untethered Robotic Fish With a Camera Stabilizer".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 51.10(2021):6523-6534.