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

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
Editors	Fuchun Sun, Angelo Cangelosi, Jianwei Zhang, Yuanlong Yu, Huaping Liu, Bin Fang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	425-436
Number of pages	12
ISBN (Print)	9789819906161
DOIs	https://doi.org/10.1007/978-981-99-0617-8_29
State	Published - 2023
Event	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 - Fuzhou, China Duration: 17 Dec 2022 → 18 Dec 2022

Publication series

Name	Communications in Computer and Information Science
Volume	1787 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Country/Territory	China
City	Fuzhou
Period	17/12/22 → 18/12/22

Keywords

Alongshore circumnavigating control
Fuzzy control
Obstacle avoidance strategy
Robotic manta

Access to Document

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

Cite this

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. In F. Sun, A. Cangelosi, J. Zhang, Y. Yu, H. Liu, & B. Fang (Eds.), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers (pp. 425-436). (Communications in Computer and Information Science; Vol. 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 et al. / 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. editor / Fuchun Sun ; Angelo Cangelosi ; Jianwei Zhang ; Yuanlong Yu ; Huaping Liu ; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 425-436 (Communications in Computer and Information Science).

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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",

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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. in F Sun, A Cangelosi, J Zhang, Y Yu, H Liu & B Fang (eds), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Communications in Computer and Information Science, vol. 1787 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 425-436, 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022, Fuzhou, China, 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 et al.
Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. ed. / Fuchun Sun; Angelo Cangelosi; Jianwei Zhang; Yuanlong Yu; Huaping Liu; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. p. 425-436 (Communications in Computer and Information Science; Vol. 1787 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

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KW - Fuzzy control

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A2 - Sun, Fuchun

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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. In Sun F, Cangelosi A, Zhang J, Yu Y, Liu H, Fang B, editors, Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Springer Science and Business Media Deutschland GmbH. 2023. p. 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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