Active visual tracking of free-swimming robotic fish based on automatic recognition

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

	Active visual tracking of free-swimming robotic fish based on automatic recognition
	Sun, Feihu; Yu, Junzhi; Chen, Shifeng; Xu, De
	2015
会议名称	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议日期	June 29, 2014 - July 4, 2014
会议地点	Shenyang, China
关键词	Visualization, Target tracking, Histograms, Kalman filters, Target recognition, Robot kinematics
页码	2879-2885
通讯作者	Sun, Feihu
英文摘要	Implementing automatic visual tracking for underwater robots often remains a great challenge. In this paper, we demonstrate an active visual tracking case with a free-swimming robotic fish by use of a combination of TI DM3730-centered embedded hardware and software. Specifically, automatic recognition algorithms mainly involving color-based identification and shape-based identification are proposed. In parallel with the enhanced target recognition, an improved real-time location method based on the weighed histogram representation of the target model that synthesizes the CAMSHIFT algorithm and the Kalman filter, is put forward. After that, a fuzzy logic controller based on the CPG model is employed to generate control signals related to the desired target. Aquatic experiments validate the effectiveness of the proposed algorithms.
收录类别	IEEE
会议录	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4961]
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	Sun, Feihu,Yu, Junzhi,Chen, Shifeng,et al. Active visual tracking of free-swimming robotic fish based on automatic recognition[C]. 见:2014 11th World Congress on Intelligent Control and Automation, WCICA 2014. Shenyang, China. June 29, 2014 - July 4, 2014.