Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy

Beida Yang; Yong Cao; Yu Xie; Yonghui Cao; Guang Pan

doi:10.1007/978-981-99-0617-8_29

Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy

Beida Yang, Yong Cao, Yu Xie, Yonghui Cao, Guang Pan

航海学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Aiming at the needs of civil market tasks such as autonomous swimming display of pools in the aquarium and special tasks such as intelligent autonomous patrol in specific water areas, this paper proposes a task driven control method for manta robot to circumnavigate around the shores. We equip the robot fish with a complete information sensing network and realize its driving and yaw control basing on the CPG phase oscillator network. We generate an offline look-up table by using fuzzy control method, and realize the closed-loop control of heading by looking up this table. Basing on the requirements of the circumnavigation task, we propose a real-time obstacle avoidance strategy combined with the infrared range sensor information. Finally, we build an experimental pool platform to conduct underwater alongshore circumnavigating experiments of the robot fish, and the experimental results prove the effectiveness of the overall scheme.

源语言	英语
主期刊名	Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
编辑	Fuchun Sun, Angelo Cangelosi, Jianwei Zhang, Yuanlong Yu, Huaping Liu, Bin Fang
出版商	Springer Science and Business Media Deutschland GmbH
页	425-436
页数	12
ISBN（印刷版）	9789819906161
DOI	https://doi.org/10.1007/978-981-99-0617-8_29
出版状态	已出版 - 2023
活动	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 - Fuzhou, 中国期限: 17 12月 2022 → 18 12月 2022

出版系列

姓名	Communications in Computer and Information Science
卷	1787 CCIS
ISSN（印刷版）	1865-0929
ISSN（电子版）	1865-0937

会议

会议	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
国家/地区	中国
市	Fuzhou
时期	17/12/22 → 18/12/22

访问文件

10.1007/978-981-99-0617-8_29

其它文件与链接

链接到 Scopus 的出版物

引用此

Yang, B., Cao, Y., Xie, Y., Cao, Y., & Pan, G. (2023). Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. 在 F. Sun, A. Cangelosi, J. Zhang, Y. Yu, H. Liu, & B. Fang (编辑), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers (页码 425-436). (Communications in Computer and Information Science; 卷 1787 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0617-8_29

Yang, Beida ; Cao, Yong ; Xie, Yu 等. / Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. 编辑 / Fuchun Sun ; Angelo Cangelosi ; Jianwei Zhang ; Yuanlong Yu ; Huaping Liu ; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. 页码 425-436 (Communications in Computer and Information Science).

@inproceedings{9a22f1cde56a470f88a263b4b4f4e830,

title = "Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy",

abstract = "Aiming at the needs of civil market tasks such as autonomous swimming display of pools in the aquarium and special tasks such as intelligent autonomous patrol in specific water areas, this paper proposes a task driven control method for manta robot to circumnavigate around the shores. We equip the robot fish with a complete information sensing network and realize its driving and yaw control basing on the CPG phase oscillator network. We generate an offline look-up table by using fuzzy control method, and realize the closed-loop control of heading by looking up this table. Basing on the requirements of the circumnavigation task, we propose a real-time obstacle avoidance strategy combined with the infrared range sensor information. Finally, we build an experimental pool platform to conduct underwater alongshore circumnavigating experiments of the robot fish, and the experimental results prove the effectiveness of the overall scheme.",

keywords = "Alongshore circumnavigating control, Fuzzy control, Obstacle avoidance strategy, Robotic manta",

author = "Beida Yang and Yong Cao and Yu Xie and Yonghui Cao and Guang Pan",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 ; Conference date: 17-12-2022 Through 18-12-2022",

year = "2023",

doi = "10.1007/978-981-99-0617-8_29",

language = "英语",

isbn = "9789819906161",

series = "Communications in Computer and Information Science",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "425--436",

editor = "Fuchun Sun and Angelo Cangelosi and Jianwei Zhang and Yuanlong Yu and Huaping Liu and Bin Fang",

booktitle = "Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers",

}

Yang, B, Cao, Y, Xie, Y, Cao, Y & Pan, G 2023, Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. 在 F Sun, A Cangelosi, J Zhang, Y Yu, H Liu & B Fang (编辑), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Communications in Computer and Information Science, 卷 1787 CCIS, Springer Science and Business Media Deutschland GmbH, 页码 425-436, 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022, Fuzhou, 中国, 17/12/22. https://doi.org/10.1007/978-981-99-0617-8_29

Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. / Yang, Beida; Cao, Yong; Xie, Yu 等.
Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. 编辑 / Fuchun Sun; Angelo Cangelosi; Jianwei Zhang; Yuanlong Yu; Huaping Liu; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. 页码 425-436 (Communications in Computer and Information Science; 卷 1787 CCIS).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy

AU - Yang, Beida

AU - Cao, Yong

AU - Xie, Yu

AU - Cao, Yonghui

AU - Pan, Guang

PY - 2023

Y1 - 2023

N2 - Aiming at the needs of civil market tasks such as autonomous swimming display of pools in the aquarium and special tasks such as intelligent autonomous patrol in specific water areas, this paper proposes a task driven control method for manta robot to circumnavigate around the shores. We equip the robot fish with a complete information sensing network and realize its driving and yaw control basing on the CPG phase oscillator network. We generate an offline look-up table by using fuzzy control method, and realize the closed-loop control of heading by looking up this table. Basing on the requirements of the circumnavigation task, we propose a real-time obstacle avoidance strategy combined with the infrared range sensor information. Finally, we build an experimental pool platform to conduct underwater alongshore circumnavigating experiments of the robot fish, and the experimental results prove the effectiveness of the overall scheme.

AB - Aiming at the needs of civil market tasks such as autonomous swimming display of pools in the aquarium and special tasks such as intelligent autonomous patrol in specific water areas, this paper proposes a task driven control method for manta robot to circumnavigate around the shores. We equip the robot fish with a complete information sensing network and realize its driving and yaw control basing on the CPG phase oscillator network. We generate an offline look-up table by using fuzzy control method, and realize the closed-loop control of heading by looking up this table. Basing on the requirements of the circumnavigation task, we propose a real-time obstacle avoidance strategy combined with the infrared range sensor information. Finally, we build an experimental pool platform to conduct underwater alongshore circumnavigating experiments of the robot fish, and the experimental results prove the effectiveness of the overall scheme.

KW - Alongshore circumnavigating control

KW - Fuzzy control

KW - Obstacle avoidance strategy

KW - Robotic manta

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U2 - 10.1007/978-981-99-0617-8_29

DO - 10.1007/978-981-99-0617-8_29

M3 - 会议稿件

AN - SCOPUS:85149808853

SN - 9789819906161

T3 - Communications in Computer and Information Science

SP - 425

EP - 436

BT - Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers

A2 - Sun, Fuchun

A2 - Cangelosi, Angelo

A2 - Zhang, Jianwei

A2 - Yu, Yuanlong

A2 - Liu, Huaping

A2 - Fang, Bin

PB - Springer Science and Business Media Deutschland GmbH

T2 - 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022

Y2 - 17 December 2022 through 18 December 2022

ER -

Yang B, Cao Y, Xie Y, Cao Y, Pan G. Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. 在 Sun F, Cangelosi A, Zhang J, Yu Y, Liu H, Fang B, 编辑, Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Springer Science and Business Media Deutschland GmbH. 2023. 页码 425-436. (Communications in Computer and Information Science). doi: 10.1007/978-981-99-0617-8_29

Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy

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