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Motion planning of cooperative disk-pushing for multiple biomimetic robotic fish
Shao, Jinya; Yu, Junzhi; Wang, Long; Zhang, Weicu; Shao, Jinyan
2005
会议名称IEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics
会议录名称IEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics
会议日期October 10, 2005 - October 12, 2005
会议地点Waikoloa, HI, United states
摘要This paper is concerned with the problem of motion planning for multiple robotic fish swimming together to achieve a disk-pushing task. Based on our previous successful work on the design and development of robotic fish prototypes, we attempt further to investigate how to implement cooperation in groups of these fish. The motivation of this work is that the capability of a single fish robot is always limited while there are many complex missions in practice which should be accomplished by effective cooperation of multiple fish. A disk-pushing task is employed as an example to demonstrate the design of cooperative behaviors as well as strategies. Corresponding experimental results show that higher efficiency and much greater capabilities can be obtained when these fish planning their motion properly
关键词Robotic Fish Multiple Robots Motion Planning Cooperative Control
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13150
专题个人空间
通讯作者Shao, Jinyan
作者单位Department of Mechanics and Engineering Science, Peking University, Beijing, 100871, China.2 Automation Department, University of Science and Technology Beijing, Beijing, 100083, China
推荐引用方式
GB/T 7714
Shao, Jinya,Yu, Junzhi,Wang, Long,et al. Motion planning of cooperative disk-pushing for multiple biomimetic robotic fish[C],2005.
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