A coordination method for multiple biomimetic robotic fish in underwater transport task
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2
2007
会议名称2007 American Control Conference, ACC
会议录名称American Control Conference,ACC
会议日期July 9, 2007 - July 13, 2007
会议地点New York, NY, United states
摘要This 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.
关键词Robotic Fish
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13070
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Zhang, Dandan
作者单位1.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;
推荐引用方式
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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