A Novel Visual Sensor Stabilization Platform for Robotic Sharks Based on Improved LADRC and Digital Image Algorithm

Sensors

Jie Pan¹  Junzhi Yu¹  Jincun Liu¹  Pengfei Zhang² 

[1] State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China;State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;

关键词: visual sensor;    stabilization platform;    improved LADRC;    digital technique;    robotic fish;   

DOI  :  10.3390/s20144060

来源: DOAJ

【 摘 要 】

Autonomous underwater missions require the construction of a stable visual sensing system. However, acquiring continuous steady image sequences is a very challenging task for bionic robotic fish due to their tight internal space and the inherent periodic disturbance caused by the tail beating. To solve this problem, this paper proposes a modified stabilization strategy that combines mechanical devices and digital image techniques to enhance the visual sensor stability and resist periodic disturbance. More specifically, an improved window function-based linear active disturbance rejection control (LADRC) was utilized for mechanical stabilization. Furthermore, a rapid algorithm with inertial measurement units (IMUs) was implemented for digital stabilization. The experiments regarding mechanical stabilization, digital stabilization, and target recognition on the experimental platform for simulating fishlike oscillations demonstrated the effectiveness of the proposed methods. The success of these experiments provides valuable insight into the construction of underwater visual sensing systems and also establishes a solid foundation for the visual applications for robotic fish in dynamic aquatic environments.

【 授权许可】

Unknown