Robotic fish motion planning under inherent kinematic constraints

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	Robotic fish motion planning under inherent kinematic constraints
	Zhang, Dandan; Wang, Long; Yu, Junzhi; Xie, Guangming
	2006
会议名称	2006 American Control Conference
会议录名称	American Control Conference
会议日期	June 14, 2006 - June 16, 2006
会议地点	Minneapolis, MN, United states
摘要	This 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.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13137
专题	个人空间
通讯作者	Zhang, Dandan
作者单位	Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
推荐引用方式 GB/T 7714	Zhang, Dandan,Wang, Long,Yu, Junzhi,et al. Robotic fish motion planning under inherent kinematic constraints[C],2006.