CASIA OpenIR  > 复杂系统管理与控制国家重点实验室
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
Source PublicationBIOINSPIRATION & BIOMIMETICS
ISSN1748-3182
2019-07-01
Volume14Issue:4Pages:14
Corresponding AuthorLi, Liang(liatli@pku.edu.cn)
AbstractMoving 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.
Keywordrobotic fish hydrodynamic model group swimming motion control
DOI10.1088/1748-3190/ab1052
WOS KeywordBODY
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational Natural Science Foundation of China (NSFC) ; China Postdoctoral Science Foundation ; China Scholarship Council ; NVIDIA ; Zukunftskolleg funding
WOS Research AreaEngineering ; Materials Science ; Robotics
WOS SubjectEngineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS IDWOS:000509126400001
PublisherIOP PUBLISHING LTD
Citation statistics
Cited Times:10[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/29516
Collection复杂系统管理与控制国家重点实验室
Corresponding AuthorLi, Liang
Affiliation1.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
Recommended Citation
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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