{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T15:41:21Z","timestamp":1759938081570},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T00:00:00Z","timestamp":1236643200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel ostraciiform swimming, vision-based autonomous robotic fish is developed in this paper. Its feasibility and capability are shown by implementing a dynamic target following task in a swimming pool. Inspired by boxfish that is highly stable and fairly maneuverable, the robotic fish is designed and constructed by locating multiple propulsors peripherally around a rigid body. Swimming locomotion of the robotic fish is achieved through harmonic oscillations of the tail and pectoral fins. The forces and moments acting on the fins and body are analyzed and the governing motion equations are derived. Through coordinating the movements of the propulsors, several typical swimming patters are empirical designed and realized. A digital camera is integrated in the robotic fish, and the visual information is processed with the embedded microcontroller. To treat the degradation of underwater image, a continuously adaptive mean shift (Camshift) algorithm is modified to keep visual lock on the moving target. A fuzzy logic controller is designed for motion regulation of a hybrid swimming pattern, which employs synchronized pectoral fins for thrust generation and tail fin for steering. A simple target following task is designed via an autonomous robotic fish swimming after a manually controlled robotic fish with fixed distance. The swimming performance of the robotic fish is tested and the effectiveness of the proposed target following method is verified experimentally.<\/jats:p>","DOI":"10.1017\/s0263574709005499","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T10:31:27Z","timestamp":1236681087000},"page":"1075-1089","source":"Crossref","is-referenced-by-count":34,"title":["Development and target following of vision-based autonomous robotic fish"],"prefix":"10.1017","volume":"27","author":[{"given":"Yonghui","family":"Hu","sequence":"first","affiliation":[]},{"given":"Wei","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Guangming","family":"Xie","sequence":"additional","affiliation":[]},{"given":"Long","family":"Wang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,10]]},"reference":[{"key":"S0263574709005499_ref25","first-page":"5418","volume-title":"Proceedings of International Conference on Intelligent Robots and Systems","author":"Kodati","year":"2006"},{"key":"S0263574709005499_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/S1546-5098(05)23011-X"},{"key":"S0263574709005499_ref20","volume-title":"Proceedings of International Symposium on Communications, Control and Signal Processing","author":"Morgansen","year":"2006"},{"key":"S0263574709005499_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/48.820744"},{"key":"S0263574709005499_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2005.843748"},{"key":"S0263574709005499_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-006-0325-0"},{"key":"S0263574709005499_ref18","first-page":"1271","volume-title":"Proceedings of American Control Conference","author":"Kelly","year":"1998"},{"key":"S0263574709005499_ref26","first-page":"643","volume-title":"Proceedings of IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","author":"Lachat","year":"2006"},{"key":"S0263574709005499_ref24","doi-asserted-by":"crossref","first-page":"1459","DOI":"10.1242\/jeb.204.8.1459","article-title":"Boxfishes (teleostei: Ostraciidae) as a model system for fishes swimming with many fins: Kinematics","volume":"204","author":"Hove","year":"2001","journal-title":"J. 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Hirata T. , Welcome to fish robot home page (2000). 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Bradski G. R. , \u201cComputer video face tracking for use in a perceptual user interface,\u201d Intel Technol. J. (1998) (2nd Quarter)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005499","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,2]],"date-time":"2021-10-02T23:05:41Z","timestamp":1633215941000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005499\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,10]]},"references-count":32,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2009,12]]}},"alternative-id":["S0263574709005499"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005499","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,10]]}}}