Chen, Gang and Xu, Yidong and Tu, Jiajun and Yang, Xin and Hu, Huosheng and Dong, Fei and Zhang, Jingjing and Shi, Jianwei (2024) A novel bionic mantis shrimp robot for tracking underwater moving objects. Ships and Offshore Structures. pp. 1-15. DOI https://doi.org/10.1080/17445302.2024.2356941
Chen, Gang and Xu, Yidong and Tu, Jiajun and Yang, Xin and Hu, Huosheng and Dong, Fei and Zhang, Jingjing and Shi, Jianwei (2024) A novel bionic mantis shrimp robot for tracking underwater moving objects. Ships and Offshore Structures. pp. 1-15. DOI https://doi.org/10.1080/17445302.2024.2356941
Chen, Gang and Xu, Yidong and Tu, Jiajun and Yang, Xin and Hu, Huosheng and Dong, Fei and Zhang, Jingjing and Shi, Jianwei (2024) A novel bionic mantis shrimp robot for tracking underwater moving objects. Ships and Offshore Structures. pp. 1-15. DOI https://doi.org/10.1080/17445302.2024.2356941
Abstract
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 × 1m × 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°.
Item Type: | Article |
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Uncontrolled Keywords: | Underwater target sensing; underwater target following control; bionic mantis shrimp robot; bionic robots; 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: | 09 Jul 2024 14:53 |
Last Modified: | 09 Jul 2024 15:00 |
URI: | http://repository.essex.ac.uk/id/eprint/38467 |
Available files
Filename: Accepted_Manuscript.pdf
Licence: Creative Commons: Attribution-Noncommercial 4.0
Embargo Date: 27 May 2025