Study on Swimming Control of Multi Mini Robofish
As fishlike underwater vehicle has inspiring maneuverability compared with normal underwater vehicles thrusted by screw propeller, it has much extensive application foreground in cooperative and control for multiple underwater robot. In this paper, an experimental platform of multi mini robofish is developed, and performance test of the robofish is carried out. Base on this, robofish positioning control was studied. Due to the undulation of water environment and interfere among multi robofish themselves, the swimming of robofish shows highly non-linear and precise positioning control is very difficult. This paper propose a learning algorithm of robofish, and through constructing robofish behavior database, the precise positioning control of robofish is obtained. This study make foundation for multi robofish cooperative control.
Multi-robot Biomimetic Robofish Maneuverability Learning algorithm
Wei Hongxing Wang Tianmiao Liang Jianhong Liu Miao
Robotics Institute, Beihang University Beijing ,100083, P.R.China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
207-211
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）