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Coordinated transport by multiple biomimetic robotic fish in underwater environment
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2; Tan, Min2
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2007-07-01
Volume15Issue:4Pages:658-671
SubtypeArticle
AbstractThis 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. 
KeywordCooperative Systems Fuzzy Control Marine Transportation Mobile Robot Motion-planning Mobile Robots
WOS HeadingsScience & Technology ; Technology
WOS KeywordSWIMMING MACHINE ; LOCOMOTION ; ALGORITHM ; TASK
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000247645500006
Citation statistics
Cited Times:22[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9499
Collection09年以前成果
Corresponding AuthorZhang, Dandan
Affiliation1. 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
Recommended Citation
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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