Collision-free motion planning for a biomimetic robotic fish based on numerical flow field,

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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
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	In 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.
关键词	Robotic Fish Motion Planing Numerical Flow Field Finite Element Method
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13140
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
推荐引用方式 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.