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Formation control of multiple biomimetic robotic fish
Shao, Jinyan; Yu, Junzhi; Wang, Long
2006
Conference Name2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Source PublicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Conference DateOctober 9, 2006 - October 15, 2006
Conference PlaceBeijing, China
AbstractThis 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.
KeywordRobotic Fish Formation Control Leaderfollowing Formation
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13139
Collection个人空间
Corresponding AuthorShao, Jinyan
AffiliationCenter 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
Recommended Citation
GB/T 7714
Shao, Jinyan,Yu, Junzhi,Wang, Long. Formation control of multiple biomimetic robotic fish[C],2006.
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