An Embedded Vision System for Robotic Fish Navigation
This paper presents a new type of autonomous robotic fish with vision-based target tracking and obstacle avoidance. The robotic fish can sample images through its eye and recognize the meaningful color patch via a special vision algorithm. Specifically, an ARM9-centered microcontroller in conjunction with a CMOS camera for image acquisition is developed to effectively handle local visual information serving as the basis of underwater navigation. Meanwhile, a wireless interactive control console is devised, facilitating two-way information transfer. It can access the environmental information captured by the robotic fish in real time and display the obtained results in a visual format online. Experimental results demonstrate the effectiveness of the proposed scheme.
embedded vision color patch robotic fish control console
Kai Wang Junzhi Yu
Lab of COMPSYS, Institute of Automation Chinese Academy of Sciences Beijing 100190, China
国际会议
太原
英文
333-337
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）