A coordination method for multiple biomimetic robotic fish in underwater transport task

	A coordination method for multiple biomimetic robotic fish in underwater transport task
	Zhang, Dandan 1; Wang, Long 1; 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	复杂系统认知与决策实验室_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;
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.