A coordination method for multiple biomimetic robotic fish box-pushing

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	A coordination method for multiple biomimetic robotic fish box-pushing
	Zhang, Danda; Fang, Yimi; Xie, Guangmin; Yu, Junzhi; Wang, Lon; Zhang, Dandan
	2005
会议名称	IEEE International Conference on Mechatronics and Automation, ICMA 2005
会议录名称	IEEE International Conference on Mechatronics and Automation, ICMA
会议日期	July 29, 2005 - August 1, 2005
会议地点	Niagara Falls, ON, Canada
摘要	This paper presents a novel method for coordinating multiple biomimetic Robotic Fish in box-pushing task. Having successfully developed a robotic fish prototype, and built a platform of Multiple Robotic Fish Coordinated Control System to study coordinated control strategies for multiple robotic fish, we step further to study coordination problems of multiple robotic fish in unstructured and dynamic environments. To simplify the difficulty of path planning and action decision when a fish is approaching the box, we employ a situated-behavior design method which is based on situations, and for each situation a specific behavior is elaborately designed. On dealing with the synchronization and coordinated pushing problems in the particular underwater environment, fuzzy logic method is adopted for motion planning of the fish. Experimental results of box-pushing performed by two robotic fish validate the effectiveness of the proposed method.
关键词	Biomimetic Robotic Fish Box-pushing Coordination
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13153
专题	个人空间
通讯作者	Zhang, Dandan
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	Zhang, Danda,Fang, Yimi,Xie, Guangmin,et al. A coordination method for multiple biomimetic robotic fish box-pushing[C],2005.