Chen, Gang and Xu, Yidong and Yang, Xin and Hu, Huosheng and Cheng, Hao and Zhu, Lvyuan and Zhang, Jingjing and Shi, Jianwei and Chai, Xinxue (2024) Target tracking control of a bionic mantis shrimp robot with closed-loop central pattern generators. Ocean Engineering, 297. p. 116963. DOI https://doi.org/10.1016/j.oceaneng.2024.116963
Chen, Gang and Xu, Yidong and Yang, Xin and Hu, Huosheng and Cheng, Hao and Zhu, Lvyuan and Zhang, Jingjing and Shi, Jianwei and Chai, Xinxue (2024) Target tracking control of a bionic mantis shrimp robot with closed-loop central pattern generators. Ocean Engineering, 297. p. 116963. DOI https://doi.org/10.1016/j.oceaneng.2024.116963
Chen, Gang and Xu, Yidong and Yang, Xin and Hu, Huosheng and Cheng, Hao and Zhu, Lvyuan and Zhang, Jingjing and Shi, Jianwei and Chai, Xinxue (2024) Target tracking control of a bionic mantis shrimp robot with closed-loop central pattern generators. Ocean Engineering, 297. p. 116963. DOI https://doi.org/10.1016/j.oceaneng.2024.116963
Abstract
To address the challenge of efficient underwater target tracking, this study focuses on the mantis shrimp as a biomimetic model. The research involves the design of a bionic mantis shrimp robot featuring a structure that supports multi-pleopod coupled movement. We propose a target tracking control system based on a bionic closed-loop central pattern generator (CPG). This system integrates CPG control, proportional integral derivative control, and fuzzy logic control. It aims to enable precise target tracking by dynamically adjusting the robot's motion in response to data from vision sensors. Extensive underwater experiments validate the effectiveness of this control system in both static and dynamic target tracking scenarios. The experiments demonstrate that the bionic mantis shrimp robot can perform multiangle turns and adjust its velocity flexibly in a confined space measuring 2 m × 1 m × 1 m. Notably, the robot can track targets at angles up to 130° relative to its initial motion direction. The minimum tracking turning radius achieved is 0.65 m, highlighting the potential for advanced target tracking and broader applications in underwater robotics.
Item Type: | Article |
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Uncontrolled Keywords: | Central pattern generators; Closed-loop CPG; Target tracking control; Bionic mantis shrimp robot; Fuzzy logic control; Underwater robot |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 19 Jun 2024 09:44 |
Last Modified: | 19 Jun 2024 09:47 |
URI: | http://repository.essex.ac.uk/id/eprint/38279 |
Available files
Filename: OE-V297-2024-116963.pdf
Licence: Creative Commons: Attribution-Noncommercial-No Derivative Works 4.0
Embargo Date: 19 February 2025