Title :
Development of Networked Robot Fish Control Systems
Author :
Wang, Shuo ; Liu, Guo-Ping ; Rees, David ; Tan, Min
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing
Abstract :
In this paper, a networked control system based on Simulink´s s-function is presented for remote control of a biomimetic robot fish. The whole system consists of a network camera, a remote controller, a local controller and a robot fish. The remote controller obtains real-time images from the network camera, processes these images, generates control instructions, and sends the control instructions to the robot fish through a network. The local controller receives the instructions and sends them to the robot fish via wireless communication. The control system on the remote computer is developed as a Simulink model with s-function modules, in which an image processing algorithm and a rule-based control algorithm proposed are realized. The experimental results for point-to-point motion control of a robot fish through intra-net are given
Keywords :
biomimetics; control engineering computing; image processing; mobile communication; mobile robots; motion control; neurocontrollers; real-time systems; remotely operated vehicles; robot vision; telecontrol; underwater vehicles; Simulink s-function module; biomimetic robot fish; image processing; intelligent control; motion control; networked robot fish control systems; remote control; rule-based control algorithm; wireless communication; Biomimetics; Cameras; Communication system control; Control systems; Image generation; Marine animals; Networked control systems; Robot control; Robot vision systems; Wireless communication; Intelligent Control; Networked Control System; Robot Fish;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713804