基于camshift仿生机器鱼水下探测算法的设计与实现
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国家自然科学基金项目(60865004)和国家863计划项目(2007AA04Z202)共同资助。


Design and implementation of detection algorithm based on camshift bionic machine
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    摘要:

    提出了一种集成多个红外测距传感器,CMOS摄像头的仿生机器鱼,设计了仿生机器鱼的传感器网络,分析了仿生机器鱼在水面上与障碍物和目标物之间的几何关系。对漂移算法中的camshift算法进行了介绍,并把camshif算法运用到仿生机器鱼的视觉算法中。以模糊算法为基础设计了一种有效的路径规划控制算法。通过camshit算法与路径控制算法有效的结合,使机器鱼能够在水中自主躲避障碍物,并探测到目标物反馈信息。最后用试验验证了算法的有效性。

    Abstract:

    In this paper, we proposed a biomimetic robotic fish that can be integrated with multiple infrared distance measuring sensors and a CMOS camera. We designed a sensor network of biomimetic robotic fish and analyzed the geometrical relationship between the obstacles and the target when the fish was on the water surface. We also introduced a camshift algorithm in the shift algorithm and applied it to the vision algorithm of the biomimetic robotic fish. An effective path planning control algorithm was designed. The biomimetic robotic fish could avoid obstacles independently in the water and detect the feedback information from the target. The effectiveness of the algorithm was verified by several tests.

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  • 收稿日期:2015-02-02
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  • 在线发布日期: 2016-12-05