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Coordinated transport by multiple biomimetic robotic fish in underwater environment
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2; Tan, Min2
2007-07-01
发表期刊IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷号15期号:4页码:658-671
文章类型Article
摘要This paper presents a coordination method for multiple biomimetic robotic fish in underwater transport task. Based on our robotic fish prototype, we further investigate the coordinationproblems of multiple robotic fish. Considering the kinematic constraints of the robotic fish, and the unstructured and dynamic characteristics of the water environment, we utilize the limit cycle approach to control the posture of the fish and realize collision avoidance. To control the transport orientation in the particular underwater environment, the fuzzy logic method is adopted. Experimental results of transportation performed by three robotic fish validate the effectiveness of the proposed method. 
关键词Cooperative Systems Fuzzy Control Marine Transportation Mobile Robot Motion-planning Mobile Robots
WOS标题词Science & Technology ; Technology
关键词[WOS]SWIMMING MACHINE ; LOCOMOTION ; ALGORITHM ; TASK
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号WOS:000247645500006
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9499
专题09年以前成果
通讯作者Zhang, Dandan
作者单位1. Intelligent Control Laboratory, Center for Systems and Control, Peking University, Beijing 100871, China
2. Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
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GB/T 7714
Zhang, Dandan,Wang, Long,Yu, Junzhi,et al. Coordinated transport by multiple biomimetic robotic fish in underwater environment[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2007,15(4):658-671.
APA Zhang, Dandan,Wang, Long,Yu, Junzhi,&Tan, Min.(2007).Coordinated transport by multiple biomimetic robotic fish in underwater environment.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,15(4),658-671.
MLA Zhang, Dandan,et al."Coordinated transport by multiple biomimetic robotic fish in underwater environment".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 15.4(2007):658-671.
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