Formation control of multiple biomimetic robotic fish

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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
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	Shao, Jinyan,Yu, Junzhi,Wang, Long. Formation control of multiple biomimetic robotic fish[C],2006.