Target follwing with a vision sway compensation for robotic fish Fibo

Na, Ki‐In; Jeong, In-Bae; Han, Seung-Beom; Kim, Jong-Hwan

doi:10.1109/robio.2011.6181604

Cited by 5 publications

(4 citation statements)

References 24 publications

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“…On the other hand, analyzing the law of swaying, modeling the process of swaying and constructing algorithms to restrain the phenomenon compose most motivations of reducing target lose. In addition, a combination of the gyroscope information and the target position is available to determine the positional relation of the fish and the target, which can be recommended to avoid target lose [9].…”

Section: B Discussionmentioning

confidence: 99%

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Active visual tracking of free-swimming robotic fish based on automatic recognition

Sun

Chen

et al. 2014

Proceeding of the 11th World Congress on Intelligent Control and Automation

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Implementing automatic visual tracking for underwater robots often remains a great challenge. In this paper, we demonstrate an active visual tracking case with a free-swimming robotic fish by use of a combination of TI DM3730-centered embedded hardware and software. Specifically, automatic recognition algorithms mainly involving color-based identification and shape-based identification are proposed. In parallel with the enhanced target recognition, an improved real-time location method based on the weighed histogram representation of the target model that synthesizes the CAMSHIFT algorithm and the Kalman filter, is put forward. After that, a fuzzy logic controller based on the CPG model is employed to generate control signals related to the desired target. Aquatic experiments validate the effectiveness of the proposed algorithms.

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Section: B Discussionmentioning

confidence: 99%

“…Uncertainty and diversity of aquatic environments, non-uniform light and recoil effect caused by intrinsic oscillatory movements are great challenges for active visual tracking in free-swimming robotic fish. Constrained by these adverse factors, only some simple underwater tasks have been carried out [6]- [9].…”

Section: Introductionmentioning

confidence: 99%

Active visual tracking of free-swimming robotic fish based on automatic recognition

Sun

Chen

et al. 2014

Proceeding of the 11th World Congress on Intelligent Control and Automation

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“…However, compared with traditional propeller-driven AUV technology, fish-like robots have great advantages that include greater efficiency, high-level agility and station-keeping ability [1]. Moreover, robotic fish has shown superior swimming performance [2]. Recent research work on bio-inspired technology proves that robotic fish offers advanced features such as swimming speed, real-time sensing and artificial intelligence over various marine species.…”

Section: Introductionmentioning

confidence: 99%

Development of vision-based object tracking fish robot

Rehman

Ajwad

et al. 2022

2022 UKACC 13th International Conference on Control (CONTROL)

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This paper focuses on the development and visionbased object tracking control of a fish robot. Its efficiency towards target tracking is demonstrated in a water tank. Inspired by the maneuvering and stability of Tuna fish, the fish robot is designed by a single actuator located at the rare part of the fish body. The precise maneuverability characteristics of the fish robot is achieved by the motion of a caudal fin. A servomotor is involved to control the oscillation of the caudal fin. A vision-sensor is integrated into fish robot to gain information related to Cartesian coordinates of the targeted object by implementing a color-based filtering algorithm. An object tracking algorithm is designed which performs the decisionmaking task for the fish robot while identifying and following the targeted object. The locomotion of the fish robot in various directions is tested experimentally by achieving effective performance of the proposed targeted object following task.

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“…1 Furthermore, fish robots have shown better performance in terms of swimming mechanism. 2 Such kinds of robots have a wide range of underwater applications and have various other applications rather than deep-sea scientific exploration, military, advertisement, and entertainment.…”

Section: Introductionmentioning

confidence: 99%

Design and development of autonomous robotic fish for object detection and tracking

Rehman

Ajwad

et al. 2020

International Journal of Advanced Robotic Systems

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In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish.

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Target follwing with a vision sway compensation for robotic fish Fibo

Cited by 5 publications

References 24 publications

Active visual tracking of free-swimming robotic fish based on automatic recognition

Active visual tracking of free-swimming robotic fish based on automatic recognition

Development of vision-based object tracking fish robot

Design and development of autonomous robotic fish for object detection and tracking

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