Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces
This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/631296 |
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| _version_ | 1832551126252126208 |
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| author | Junzhi Yu Kai Wang Min Tan Jianwei Zhang |
| author_facet | Junzhi Yu Kai Wang Min Tan Jianwei Zhang |
| author_sort | Junzhi Yu |
| collection | DOAJ |
| description | This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. |
| format | Article |
| id | doaj-art-8a18f81538694c05ba19416e3dfdc8e3 |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-8a18f81538694c05ba19416e3dfdc8e32025-02-03T06:04:55ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/631296631296Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control SurfacesJunzhi Yu0Kai Wang1Min Tan2Jianwei Zhang3State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaDepartment of Informatics, University of Hamburg, D-22527 Hamburg, GermanyThis paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.http://dx.doi.org/10.1155/2014/631296 |
| spellingShingle | Junzhi Yu Kai Wang Min Tan Jianwei Zhang Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces The Scientific World Journal |
| title | Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces |
| title_full | Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces |
| title_fullStr | Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces |
| title_full_unstemmed | Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces |
| title_short | Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces |
| title_sort | design and control of an embedded vision guided robotic fish with multiple control surfaces |
| url | http://dx.doi.org/10.1155/2014/631296 |
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