Knowledge Commons of Institute of Automation,CAS
A modified line-of-sight method for path tracking applied to robotic fish | |
Du, Sheng1,2; Zhou, Chao3; Yu, Junzhi1,4; Wu, Zhengxing1,2 | |
2020-10 | |
会议名称 | IEEE International Conference on Mechatronics and Automation (ICMA) |
会议日期 | 2020-10 |
会议地点 | Beijing, China |
摘要 | This paper proposes an improved line-of-sight method to navigate a two-joint-actuated tuna-like robotic fish. Based on the characteristics of thunniform swimmer, a simplified kinematic and dynamic model is constructed, and the intrinsic body swing is illustrated. To deal with the nonlinear and under-actuated dynamics of the robotic fish, the reference head angle is designed with cross-track error, which substantially simplifies the control of linear path tracking. Furthermore, with the physical constraint, co-simulation using Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software and MATLAB simulink reveals the effectiveness. The obtained results show that the proposed method is able to make both the cross-track error and the heading error fluctuate in an acceptable range quickly. |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能控制 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44715 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.State Key Lab Management and Control for Complex Systems, Institute of Automation, CAS, Beijing 100190, China 2.Naval Research Academy, Beijing 100072, China 3.Dept. Mech. Eng. Sci., BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China 4.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Du, Sheng,Zhou, Chao,Yu, Junzhi,et al. A modified line-of-sight method for path tracking applied to robotic fish[C],2020. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ICMA.pdf(389KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论