Bottom-level motion control for robotic fish to swim in groups: modeling and experiments | |
Li, Liang1; Liu, Anquan2; Wang, Wei1; Ravi, Sridhar3; Fu, Rubin1; Yu, Junzhi4; Xie, Guangming1,5 | |
发表期刊 | BIOINSPIRATION & BIOMIMETICS |
ISSN | 1748-3182 |
2019-07-01 | |
卷号 | 14期号:4页码:14 |
通讯作者 | Li, Liang(liatli@pku.edu.cn) |
摘要 | Moving in groups is an amazing spectacle of collective behaviour in fish and has attracted considerable interest from many fields, including biology, physics and engineering. Although robotic fish have been well studied, including algorithms to simulate group swimming, experiments that demonstrate multiple robotic fish as a stable group are yet to be achieved. One of the challenges is the lack of a robust bottom-level motion control system for robotic fish platforms. Here we seek to overcome this challenge by focusing on the design and implementation of a motion controller for robotic fish that allows multiple individuals to swim in groups. As direction control is essential in motion control, we first propose a high-accuracy controller which can control a sub-carangiform robotic fish from one arbitrary position/pose (position and direction) to another. We then develop a hydrodynamic-model-based simulation platform to expedite the process of the parameter tuning of the controller. The accuracy of the simulation platform was assessed by comparing the results from experiments on a robotic fish using speeding and turning tests. Subsequently, extensive simulations and experiments with robotic fish were used to verify the accuracy and robustness of the bottom-level motion control. Finally, we demonstrate the efficacy of our controller by implementing group swimming using three robotic fish swimming freely in prescribed trajectories. Although the fluid environment can be complex during group swimming, our bottom-level motion control remained nominally accurate and robust. This motion control strategy lays a solid foundation for further studies of group swimming with multiple robotic fish. |
关键词 | robotic fish hydrodynamic model group swimming motion control |
DOI | 10.1088/1748-3190/ab1052 |
关键词[WOS] | BODY |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China (NSFC)[51575005] ; National Natural Science Foundation of China (NSFC)[61503008] ; National Natural Science Foundation of China (NSFC)[61633002] ; National Natural Science Foundation of China (NSFC)[91648120] ; China Postdoctoral Science Foundation[2015M570013] ; China Postdoctoral Science Foundation[2016T90016] ; China Scholarship Council[201506010215] ; NVIDIA ; Zukunftskolleg funding ; National Natural Science Foundation of China (NSFC)[51575005] ; National Natural Science Foundation of China (NSFC)[61503008] ; National Natural Science Foundation of China (NSFC)[61633002] ; National Natural Science Foundation of China (NSFC)[91648120] ; China Postdoctoral Science Foundation[2015M570013] ; China Postdoctoral Science Foundation[2016T90016] ; China Scholarship Council[201506010215] ; NVIDIA ; Zukunftskolleg funding |
项目资助者 | National Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Scholarship Council ; NVIDIA ; Zukunftskolleg funding |
WOS研究方向 | Engineering ; Materials Science ; Robotics |
WOS类目 | Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics |
WOS记录号 | WOS:000509126400001 |
出版者 | IOP PUBLISHING LTD |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/29516 |
专题 | 复杂系统管理与控制国家重点实验室 |
通讯作者 | Li, Liang |
作者单位 | 1.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 0087, Peoples R China 2.Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200072, Peoples R China 3.Univ New South Wales, Sch Engn & Informat Technol, Australian Def Force Acad, Canberra, ACT, Australia 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Peking Univ, Inst Ocean Res, Beijing 100871, Peoples R China |
推荐引用方式 GB/T 7714 | Li, Liang,Liu, Anquan,Wang, Wei,et al. Bottom-level motion control for robotic fish to swim in groups: modeling and experiments[J]. BIOINSPIRATION & BIOMIMETICS,2019,14(4):14. |
APA | Li, Liang.,Liu, Anquan.,Wang, Wei.,Ravi, Sridhar.,Fu, Rubin.,...&Xie, Guangming.(2019).Bottom-level motion control for robotic fish to swim in groups: modeling and experiments.BIOINSPIRATION & BIOMIMETICS,14(4),14. |
MLA | Li, Liang,et al."Bottom-level motion control for robotic fish to swim in groups: modeling and experiments".BIOINSPIRATION & BIOMIMETICS 14.4(2019):14. |
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