NDLI: Underwater cave search and entry using a robotic fish with embedded vision

Content Provider	IEEE Xplore Digital Library
Author	Chen Shi-Feng Yu Jun-Zhi
Copyright Year	2014
Description	Author affiliation: State Key Lab. of Manage. & Control for Complex Syst., Inst. of Autom., Beijing, China (Chen Shi-Feng; Yu Jun-Zhi)
Abstract	Underwater cave exploration has always been a tough problem for autonomous underwater vehicles. As a primary step towards this problem, we explore the underwater cave search and entry with a free-swimming robotic fish characterized by flexible control and embedded vision. In particular, we use a colored ring instead of the cave and acquire its contour by its binary image. Then we propose an algorithm combining the Meanshift algorithm with the bump characteristic of the ring contour to eliminate the mirror image effects and background interference. Eventually a bio-inspired Central Pattern Generator control method is adopted to smoothly drive the robotic fish to swim towards the ring. All proposed algorithms are implemented in real time with a hybrid control system consisting of two embedded microprocessors (TI DM3730 and STMicroelectronics STM32F407). Preliminary aquatic experiments demonstrate that a fairly good exploration effect is resulted and the interference caused by mirror image effect and background is largely eliminated. The proposed robotic fish-based scheme offers an alternative to cave exploration in complex aquatic environments.
Starting Page	8335
Ending Page	8340
File Size	436623
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Cave exploration biomimetic fish Robot kinematics Microprocessors Meanshift algorithm Interference bump characteristic contour extraction Prediction algorithms Mirrors Marine animals
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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