Control and coordination of multiple biomimetic robotic fish

doi:10.1109/TCST.2006.883228

CORC > 北京大学 > 工学院

	Control and coordination of multiple biomimetic robotic fish
	Yu, Junzhi ; Wang, Long ; Shao, Jinyan ; Tan, Min
刊名	ieee transactions on control systems technology
	2007
关键词	coordinated control dynamic analysis hierarchical architecture modeling robotic fish LOCOMOTION FRAMEWORK
DOI	10.1109/TCST.2006.883228
英文摘要	Investigation in biomimetic robotic fish is a multidisciplinary area entirely integrating hydrodynamics-based control and robotic technology. In this brief, grounded on an optimized kinematic and dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes, a free-swimming, multilink robotic fish and its motion control are designed. Employing top-down design approach, we propose a hierarchical architecture for an artificial multifish system which consists of five levels: task level, role level, behavior level, action level, and controller level, to formalize the processes from task decomposition, role assignments, and control performance. A vision-based, closed-loop experimental system for multiple robotic fish is finally constructed to verify the proposed architecture. The running experiments of fish versus man primarily show that much greater capabilities are exhibited when the fish try to cooperate with each other.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000243342200018&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Automation & Control Systems; Engineering, Electrical & Electronic; SCI(E); EI; 9; ARTICLE; 1; 176-183; 15
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/250861]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Long,Shao, Jinyan,et al. Control and coordination of multiple biomimetic robotic fish[J]. ieee transactions on control systems technology,2007.
APA	Yu, Junzhi,Wang, Long,Shao, Jinyan,&Tan, Min.(2007).Control and coordination of multiple biomimetic robotic fish.ieee transactions on control systems technology.
MLA	Yu, Junzhi,et al."Control and coordination of multiple biomimetic robotic fish".ieee transactions on control systems technology (2007).