Title :
Development of vision-based autonomous robotic fish and its application in water-polo-attacking task
Author :
Zhao, Wei ; Hu, Yonghui ; Xie, Guangming ; Wang, Long ; Jia, Yingmin
Author_Institution :
Dept. of Mech. & Space Technol., Peking Univ., Beijing
Abstract :
This paper presents the design and locomotion control of a vision-based autonomous robotic fish, and its application in water-polo-attacking task. Most of previous work on task strategies of autonomous robots is focused on the terrestrial robots and seldom deals with underwater applications. In fact, the tasks in underwater environment are more challenging than those in ground circumstances due to the uncertainties and complexity in hydro-environment. In this paper, a water-polo-attacking task is designed and implemented based on artificial potential field. The experimental results are presented to verify the effectiveness of the proposed control algorithms.
Keywords :
marine systems; mobile robots; robot vision; locomotion control; vision-based autonomous robotic fish; water-polo-attacking task; Leak detection; Marine animals; Motion control; Oceans; Propulsion; Robot sensing systems; Robot vision systems; Servomotors; Tail; Uncertainty;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586552