Underwater Cave Search and Entry Using a Robotic Fish With Embedded Vision
Underwater cave exploration has always been a tough problem for autonomous underwater vehicles.As a primary step towards this problem,we explore the underwater cave search and entry with a free-swimming robotic fish characterized by flexible control and embedded vision.In particular,we use a colored ring instead of the cave and acquire its contour by its binary image.Then we propose an algorithm combining the Meanshift algorithm with the bump characteristic of the ring contour to eliminate the mirror image effects and background interference.Eventually a bio-inspired Central Pattern Generator control method is adopted to smoothly drive the robotic fish to swim towards the ring.All proposed algorithms are implemented in real time with a hybrid control system consisting of two embedded microprocessors(TI DM3730 and STMicroelectronics STM32F407).Preliminary aquatic experiments demonstrate that a fairly good exploration effect is resulted and the interference caused by mirror image effect and background is largely eliminated.The proposed robotic fish-based scheme offers an alternative to cave exploration in complex aquatic environments.
Cave exploration biomimetic fish Meanshift algorithm contour extraction bump characteristic
CHEN Shi-Feng YU Jun-Zhi
State Key Laboratory of Management and Control for Complex Systems,Institute of Automation Chinese Academy of Sciences,Beijing 100190,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8335-8340
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）