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Formation control of multiple biomimetic robotic fish
Shao, Jinyan; Yu, Junzhi; Wang, Long
2006
会议名称2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
会议录名称IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
会议日期October 9, 2006 - October 15, 2006
会议地点Beijing, China
摘要This paper presents a new method for formation control of multiple underwater fish-like robots. Considering both geometrical and mechanical constrains of the fish-like robots and based on the leader-following approach, a curvature coordinates is introduced to describe relative positions between different members within formations. Both the static and dynamic formations are concerned. We conduct simulations and physical experiments to verify effectiveness of the proposed algorithms.
关键词Robotic Fish Formation Control Leaderfollowing Formation
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13139
专题个人空间
通讯作者Shao, Jinyan
作者单位Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, 100871, China.(2)Complex Systems and Intelligent Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing, 100871, China
推荐引用方式
GB/T 7714
Shao, Jinyan,Yu, Junzhi,Wang, Long. Formation control of multiple biomimetic robotic fish[C],2006.
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