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Development and target following of vision-based autonomous robotic fish

Published online by Cambridge University Press:  10 March 2009

Yonghui Hu ,
Wei Zhao ,
Guangming Xie  and
Long Wang
Yonghui Hu*
Affiliation:
Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, P. R. China
Wei Zhao
Affiliation:
Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, P. R. China
Guangming Xie
Affiliation:
Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, P. R. China
Long Wang
Affiliation:
Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, P. R. China
*
*Corresponding author. E-mail: [email protected]
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Summary

A novel ostraciiform swimming, vision-based autonomous robotic fish is developed in this paper. Its feasibility and capability are shown by implementing a dynamic target following task in a swimming pool. Inspired by boxfish that is highly stable and fairly maneuverable, the robotic fish is designed and constructed by locating multiple propulsors peripherally around a rigid body. Swimming locomotion of the robotic fish is achieved through harmonic oscillations of the tail and pectoral fins. The forces and moments acting on the fins and body are analyzed and the governing motion equations are derived. Through coordinating the movements of the propulsors, several typical swimming patters are empirical designed and realized. A digital camera is integrated in the robotic fish, and the visual information is processed with the embedded microcontroller. To treat the degradation of underwater image, a continuously adaptive mean shift (Camshift) algorithm is modified to keep visual lock on the moving target. A fuzzy logic controller is designed for motion regulation of a hybrid swimming pattern, which employs synchronized pectoral fins for thrust generation and tail fin for steering. A simple target following task is designed via an autonomous robotic fish swimming after a manually controlled robotic fish with fixed distance. The swimming performance of the robotic fish is tested and the effectiveness of the proposed target following method is verified experimentally.

Keywords

Autonomous underwater vehiclesBiomimetic robotic fishSwimming patternVisual trackingTarget following
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1075 - 1089
Copyright
Copyright © Cambridge University Press 2009

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