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Robotic fish motion planning under inherent kinematic constraints
Zhang, Dandan; Wang, Long; Yu, Junzhi; Xie, Guangming
2006
Conference Name2006 American Control Conference
Source PublicationAmerican Control Conference
Conference DateJune 14, 2006 - June 16, 2006
Conference PlaceMinneapolis, MN, United states
AbstractThis paper presents a real-time motion planning method for biomimetic robotic fish with kinematic constraints. Based on successfully developing a robotic fish prototype, we step further to study navigation problem of the robotic fish in dynamic water environments. Considering the inherent kinematic constraints of the robotic fish, a new control law is proposed to stabilize the robotic fish on a specified position. On dealing with the collision avoidance problem among multiple robotic fish, limit-cycle approach is employed with which the robotic fish can avoid one another smoothly and efficiently. The effectiveness of the proposed method is verified through experiments conducted with two robotic fish.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13137
Collection个人空间
Corresponding AuthorZhang, Dandan
Affiliation Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Zhang, Dandan,Wang, Long,Yu, Junzhi,et al. Robotic fish motion planning under inherent kinematic constraints[C],2006.
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