Performance optimization and coordinated control of multiple biomimetic robotic fish

CASIA OpenIR > 个人空间

	Performance optimization and coordinated control of multiple biomimetic robotic fish
	Fang, Yimi; Yu, Junzhi; Fan, Ruifen; Wang, Long; Xie, Guangmin
	2005
会议名称	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
会议录名称	IEEE International Conference on Robotics and Biomimetics, ROBIO
会议日期	July 5, 2005 - July 9, 2005
会议地点	Shatin, N.T., China
摘要	This paper studies optimization and coordinated control of multiple biomimetic robotic fish. A platform for designing and optimizing parameters of biomimetic robotic fish is constructed. For optimizing parameters, the platform introduces a pertinent algorithm (cyclic direction method) which proves to be more effective and feasible compared with Tabu Search algorithm. Furthermore, the Multiple Robotic Fish Coordinated Control System (MRFCS) is built up in the studies of coordinated control strategies for multiple robotic fish. Considering the difficulties of controlling robotic fish in water environment, a novel behavior-selection mechanism is proposed to harmonize the behaviors of our robotic fish. Experiments on orderly passing-hole, competing with manually controlled fish, and water polo show that our robotic fish exhibit good underwater performance, and the coordinated control strategies proposed are effective.
关键词	Multiple Biomimetic Robotic Fish
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13149
专题	个人空间
通讯作者	Fang, Yimi
作者单位	Department of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing 100871, China
推荐引用方式 GB/T 7714	Fang, Yimi,Yu, Junzhi,Fan, Ruifen,et al. Performance optimization and coordinated control of multiple biomimetic robotic fish[C],2005.