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Collision-free motion planning for a biomimetic robotic fish based on numerical flow field,
Shao, Jinyan; Wang, Long; Yu, Junzhi
2006
Conference Name2006 American Control Conference
Source PublicationAmerican Control Conference
Conference DateJune 14, 2006 - June 16, 2006
Conference PlaceMinneapolis, MN, United states
AbstractIn this paper, we investigate motion planning for a biomimetic robotic fish which swims in underwater cluttered environment For the collision-free motion planning problem, a widespread approach is to decouple it into two subproblems: paths generation and tracking control (or feedback regulation). However, consider the special propulsion mechanism and kinematic property of the robotic fish, it is difficult for it to track a predetermined path. To cope with this situation, a novel approach based on numerical flow field is proposed, which will generate a feasible velocity vector field instead of a determined path. Then the robotic fish will be inducted by a series of feasible velocity vectors to reach its destination. Experiments are conducted to verify the effectiveness of our approach.
KeywordRobotic Fish Motion Planing Numerical Flow Field Finite Element Method
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13140
Collection个人空间
Corresponding AuthorShao, Jinyan
Affiliation Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Shao, Jinyan,Wang, Long,Yu, Junzhi. Collision-free motion planning for a biomimetic robotic fish based on numerical flow field,[C],2006.
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