TRACKING CONTROL FOR A BIOMIMETIC ROBOTIC FISH GUIDED BY ACTIVE VISION

Feihu Sun, Junzhi Yu, Peng Zhao, and De Xu

Keywords

Tracking control, active vision, stability control, biomimeticrobotic fish

Abstract

This paper is concerned with control issue of active vision guided tracking for an agile robotic fish. A control method for guaranteeing the stability of the swinging head is proposed, which aims at steady image data acquisition. Then, a control framework with the properties of multiple stages is presented. The artificial landmark-based visual positioning and directional control implemented as a fuzzy logic controller are combined in this framework. Furthermore, reasonable control strategies are put forward to balance the kinematic performance and the tracking accuracy. Finally, tracking tests have been conducted on the autonomous robotic fish merely guided by embedded vision. The experimental results indicate the feasibility and reliability of the proposed methods.

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