Knowledge Commons of Institute of Automation,CAS
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. |
条目包含的文件 | 条目无相关文件。 |
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