Collision-free motion planning for a biomimetic robotic fish based on numerical flow field,
文献类型：会议论文
| 作者 | Shao, Jinyan; Wang, Long; Yu, Junzhi
|
| 出版日期 | 2006 |
| 会议日期 | June 14, 2006 - June 16, 2006 |
| 会议地点 | Minneapolis, MN, United states |
| 关键词 | Robotic Fish Motion Planing Numerical Flow Field Finite Element Method |
| 英文摘要 | In this paper, we investigate motion planning for a biomimetic robotic fish which swims in underwater cluttered environment For the collision-free motion planning problem, a widespread approach is to decouple it into two subproblems: paths generation and tracking control (or feedback regulation). However, consider the special propulsion mechanism and kinematic property of the robotic fish, it is difficult for it to track a predetermined path. To cope with this situation, a novel approach based on numerical flow field is proposed, which will generate a feasible velocity vector field instead of a determined path. Then the robotic fish will be inducted by a series of feasible velocity vectors to reach its destination. Experiments are conducted to verify the effectiveness of our approach. |
| 会议录 | American Control Conference
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13140]  |
| 专题 | 自动化研究所_个人空间 |
| 通讯作者 | Shao, Jinyan |
| 作者单位 | Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Shao, Jinyan,Wang, Long,Yu, Junzhi. Collision-free motion planning for a biomimetic robotic fish based on numerical flow field,[C]. 见:. Minneapolis, MN, United states. June 14, 2006 - June 16, 2006. |
入库方式： OAI收割
来源：自动化研究所
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