CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A coordination method for multiple biomimetic robotic fish in underwater transport task
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2
2007
Conference Name2007 American Control Conference, ACC
Source PublicationAmerican Control Conference,ACC
Conference DateJuly 9, 2007 - July 13, 2007
Conference PlaceNew York, NY, United states
AbstractThis paper gives a coordination method for multiple biomimetic robotic fish in underwater transport task. Considering the inherent kinematic constraints of the robotic fish, and the unstructured and dynamic characteristics of the water environment, the limit cycle approach is utilized to control the posture of the fish, and realize collision avoidance. To control the transport orientation in the particular underwater environment, fuzzy logic method is adopted. Experimental results performed by three robotic fish validate the effectiveness of the proposed method.
KeywordRobotic Fish
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13070
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorZhang, Dandan
Affiliation1.Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, China.(2)Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
2.Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China;
Recommended Citation
GB/T 7714
Zhang, Dandan,Wang, Long,Yu, Junzhi. A coordination method for multiple biomimetic robotic fish in underwater transport task[C],2007.
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