Autonomous water pollution source tracking system using fish robot
CEA'07 Proceedings of the 2007 annual Conference on International Conference on Computer Engineering and Applications
Mapping system of water pollution by autonomous fish robots
ROCOM'07 Proceedings of the 7th WSEAS International Conference on Robotics, Control & Manufacturing Technology
Body-Deformation Steering Approach to Guide a Multi-mode Amphibious Robot on Land
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Development of bio-mimetic entertainment dolphin robots
WSEAS Transactions on Computers
Development of a dolphin robot: structure, sensors, actuators, and user interactions
SSIP'08 Proceedings of the 8th conference on Signal, Speech and image processing
The motion control of a mobile robot using multiobjective decision making
Proceedings of the 47th Annual Southeast Regional Conference
Step function based turning maneuvers in biomimetic robotic fish
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Multi-parameter ocean monitoring system using Underwater Wireless Sensor Networks
ACST '08 Proceedings of the Fourth IASTED International Conference on Advances in Computer Science and Technology
Fuzzy logic vorticity control of ocillating foil UUV
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Thrust improvement of an fish robot actuated by compressed unimorph piezoelectric composite actuator
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
CPG-based dynamics modeling and simulation for a biomimetic amphibious robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Recognition of sizes and angles of obstacles using distance sensors for fish robots
ACMOS'06 Proceedings of the 8th WSEAS international conference on Automatic control, modeling & simulation
Fuzzy decision making on direction changes of water pollution monitoring underwater robots
EE'07 Proceedings of the 2nd IASME/WSEAS international conference on Energy and environment
Development of a GPS-based autonomous water pollution monitoring system using fish robots
CIMMACS'07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics
Coordinating dual-mode biomimetic robotic fish in box-pushing task
ECAL'05 Proceedings of the 8th European conference on Advances in Artificial Life
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This paper is concerned with the design of a robotic fish and its motion control algorithms. A radio-controlled, four-link biomimetic robotic fish is developed using a flexible posterior body and an oscillating foil as a propeller. The swimming speed of the robotic fish is adjusted by modulating joint's oscillating frequency, and its orientation is tuned by different joint's deflections. Since the motion control of a robotic fish involves both hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a precise mathematical model employing purely analytical methods. Therefore, the fish's motion control task is decomposed into two control systems. The online speed control implements a hybrid control strategy and a proportional-integral-derivative (PID) control algorithm. The orientation control system is based on a fuzzy logic controller. In our experiments, a point-to-point (PTP) control algorithm is implemented and an overhead vision system is adopted to provide real-time visual feedback. The experimental results confirm the effectiveness of the proposed algorithms.