Three-dimensional path following control system for net cage inspection using bionic robotic fish
With the increasing impacts of overfishing and environmental pollution, the deep-sea cage culture of marine fishes has become an important direction of mariculture. In this paper, a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2022-03-01
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| Series: | Information Processing in Agriculture |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2214317321000949 |
| _version_ | 1797714467916611584 |
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| author | Yuanrong Chen Jingfen Qiao Jincun Liu Ran Zhao Dong An Yaoguang Wei |
| author_facet | Yuanrong Chen Jingfen Qiao Jincun Liu Ran Zhao Dong An Yaoguang Wei |
| author_sort | Yuanrong Chen |
| collection | DOAJ |
| description | With the increasing impacts of overfishing and environmental pollution, the deep-sea cage culture of marine fishes has become an important direction of mariculture. In this paper, a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection. To mimic the flexibility of the fish’s movement, the kinematic model of the robotic fish adopts a tuna-like double-joint design with an additional thruster device at the tail. Since the descending interval control plays a critical role in deep-sea net cage inspection, the control system utilizes the proportion integration differentiation (PID) based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement. A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection. The experimental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along predefined reference path. |
| first_indexed | 2024-03-12T07:52:24Z |
| format | Article |
| id | doaj.art-f92487da43c247eb9f96f4ee3185cea1 |
| institution | Directory Open Access Journal |
| issn | 2214-3173 |
| language | English |
| last_indexed | 2024-03-12T07:52:24Z |
| publishDate | 2022-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Information Processing in Agriculture |
| spelling | doaj.art-f92487da43c247eb9f96f4ee3185cea12023-09-02T20:31:03ZengElsevierInformation Processing in Agriculture2214-31732022-03-0191100111Three-dimensional path following control system for net cage inspection using bionic robotic fishYuanrong Chen0Jingfen Qiao1Jincun Liu2Ran Zhao3Dong An4Yaoguang Wei5College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, China; Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, Beijing 100083, China; Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture, Beijing 100083, ChinaSchool of Computing, The Australian National University, Canberra, 2601, AustraliaCollege of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, China; Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, Beijing 100083, China; Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture, Beijing 100083, ChinaCollege of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, China; Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, Beijing 100083, China; Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture, Beijing 100083, ChinaCollege of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, China; Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, Beijing 100083, China; Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture, Beijing 100083, China; Corresponding authors at: College of Information and Electrical Engineering, China Agricultural University, Haidian District, 100083 Beijing, China.College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, China; Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, Beijing 100083, China; Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture, Beijing 100083, China; Corresponding authors at: College of Information and Electrical Engineering, China Agricultural University, Haidian District, 100083 Beijing, China.With the increasing impacts of overfishing and environmental pollution, the deep-sea cage culture of marine fishes has become an important direction of mariculture. In this paper, a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection. To mimic the flexibility of the fish’s movement, the kinematic model of the robotic fish adopts a tuna-like double-joint design with an additional thruster device at the tail. Since the descending interval control plays a critical role in deep-sea net cage inspection, the control system utilizes the proportion integration differentiation (PID) based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement. A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection. The experimental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along predefined reference path.http://www.sciencedirect.com/science/article/pii/S2214317321000949Net cage inspectionBionic robotic fishPath followingThree-dimensional motion control |
| spellingShingle | Yuanrong Chen Jingfen Qiao Jincun Liu Ran Zhao Dong An Yaoguang Wei Three-dimensional path following control system for net cage inspection using bionic robotic fish Information Processing in Agriculture Net cage inspection Bionic robotic fish Path following Three-dimensional motion control |
| title | Three-dimensional path following control system for net cage inspection using bionic robotic fish |
| title_full | Three-dimensional path following control system for net cage inspection using bionic robotic fish |
| title_fullStr | Three-dimensional path following control system for net cage inspection using bionic robotic fish |
| title_full_unstemmed | Three-dimensional path following control system for net cage inspection using bionic robotic fish |
| title_short | Three-dimensional path following control system for net cage inspection using bionic robotic fish |
| title_sort | three dimensional path following control system for net cage inspection using bionic robotic fish |
| topic | Net cage inspection Bionic robotic fish Path following Three-dimensional motion control |
| url | http://www.sciencedirect.com/science/article/pii/S2214317321000949 |
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