On the Shortest Path Planning for the Carangiform Robotic Fish
Considering the under-actuated characteristic of the carangiform robotic fish whose forward movement and turning are carried out by its single caudal fin,this paper investigates its shortest path planning problem subjected to the terminal constrains.First,a simplified kinematics model is proposed in view of its locomotion characteristic.With this model,the shortest path planning is transformed into the shortest time optimal control problem and the maximum principle is employed to obtain the necessary condition.Furthermore,based on the analysis on the relationship between the length of all feasible paths and the terminal condition,the sufficient and necessary conditions are derived for the shortest path under any terminal constrains.Finally,a program developed with Matlab verifies the effectiveness of the proposed results.
carangiform robotic fish shortest path maximum principle
LIU Chang CHEN Songlin Jianxun Wang Xiaobo Tan
Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China Smart Microsystems Laboratory,Department of Electrical and Computer Engineering,Michigan State Unive
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
7835-7840
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）