A novel bionic mantis shrimp robot for tracking underwater moving objects

被引：1

作者：

Chen, Gang ^{[1
,2
]}

Xu, Yidong ^{[1
]}

Tu, Jiajun ^{[3
]}

Yang, Xin ^{[1
]}

Hu, Huosheng ^{[2
]}

Dong, Fei ^{[4
]}

Zhang, Jingjing ^{[5
]}

Shi, Jianwei ^{[5
]}

机构：

[1] Zhejiang Sci Tech Univ, Sch Mech Engn, Hangzhou 310018, Peoples R China

[2] Univ Essex, Sch Comp Sci & Elect Engn, Colchester CO4 3SQ, England

[3] Jiaxing Vocat & Tech Coll, Fac Intelligent Mfg, Jiaxing, Peoples R China

[4] Zhejiang Chengshi Robot Co Ltd, Jiaxing, Peoples R China

[5] Zhejiang CathayBot Technol Co Ltd, Jinhua, Peoples R China

来源：

SHIPS AND OFFSHORE STRUCTURES | 2024年

基金：

中国国家自然科学基金;

关键词：

Underwater target sensing; underwater target following control; bionic mantis shrimp robot; bionic robots; underwater robot; TARGET CLASSIFICATION; STRIKE MECHANISM;

D O I：

10.1080/17445302.2024.2356941

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Inspired by the agility of mantis shrimp, this paper presents the development of a novel bionic mantis shrimp robot with multiple pleopods coupled motion for underwater target recognition and tracking. Firstly, the novel bionic robot is constructed based on the inspiration from biological mantis shrimp. Secondly, a Kalman filter-based algorithm, namely MobileNet-YOLO (KMY), is created to collect datasets and train neural networks. Thirdly, a moving target following system is developed for the bionic mantis shrimp robot, in which a dual PID controller is used to track underwater moving targets. The real robot testing results show that the proposed control system can enable our bionic robot to follow a specific moving target in a narrow pool (2m x 1m x 1m), and the minimum turning radius can be up to 0.55m when the angle between the robot's initial motion and the motion of target is 90 degrees.

引用

页数：15

共 50 条

[31] COMPUTER TRACKING OF OBJECTS MOVING IN SPACE
ROACH, JW
AGGARWAL, JK
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1979, 1 (02) : 127 - 135
[32] Tracking moving objects in anonymized trajectories
Vyahhi, Nikolay
Bakiras, Spiridon
Kalnis, Panos
Ghinita, Gabriel
DATABASE AND EXPERT SYSTEMS APPLICATIONS, PROCEEDINGS, 2008, 5181 : 158 - +
[33] Automatic segmentation and tracking of moving objects
Liu, MG
Hou, CH
ADVANCES IN MUTLIMEDIA INFORMATION PROCESSING - PCM 2001, PROCEEDINGS, 2001, 2195 : 214 - 221
[34] Visual detection and tracking of moving objects
Ergezer, Hamza
Leblebicioglu, Kemal
2007 IEEE 15TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS, VOLS 1-3, 2007, : 632 - +
[35] DOMINO: Databases fOr MovINg Objects tracking
Wolfson, O
Sistla, P
Xu, B
Zhou, JT
Chamberlain, S
SIGMOD RECORD, VOL 28, NO 2 - JUNE 1999: SIGMOD99: PROCEEDINGS OF THE 1999 ACM SIGMOD - INTERNATIONAL CONFERENCE ON MANAGEMENT OF DATA, 1999, : 547 - 549
[36] Location Prediction for Tracking Moving Objects
Shen, Yan
PROCEEDINGS OF THE 2009 WRI GLOBAL CONGRESS ON INTELLIGENT SYSTEMS, VOL I, 2009, : 362 - 366
[37] Tracking Moving Objects with Few Handovers
Eppstein, David
Goodrich, Michael T.
Loeffler, Maarten
ALGORITHMS AND DATA STRUCTURES, 2011, 6844 : 362 - +
[38] Complex hypothesis tracking of moving objects
Shirokov, LE
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 2000, 39 (06) : 975 - 994
[39] DESCRIPTION AND TRACKING OF MOVING ARTICULATED OBJECTS
KURAKAKE, S
NEVATIA, R
SYSTEMS AND COMPUTERS IN JAPAN, 1994, 25 (08) : 16 - 26
[40] Study on tracking in Interested moving objects
Cui, Dongyan
Xie, Zaixing
ADVANCED RESEARCH ON ADVANCED STRUCTURE, MATERIALS AND ENGINEERING, 2012, 382 : 418 - +

← 1 2 3 4 5 →