TY - GEN
T1 - Obstacle avoidance control strategy of a biomimetic wire-driven robot fish
AU - Chen, Jiayong
AU - Chen, Youdong
AU - Yu, Binghuan
AU - Du, Ruxu
AU - Zhong, Yong
AU - Xie, Fengran
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Fish has attracted the attentions of researchers because of its excellent swimming performance in water, and biomimetic robot fish was then developed. For robot fish, it is quite significant to perceive its surroundings and then take actions automatically due to the unexpected obstacles. In this paper, a wire-driven robot fish, which can detect obstacles, is designed. We adopt Central Pattern Generator (CPG) for motion control of the robot fish which is capable for smooth transitions among different swimming modes. Moreover, an obstacle avoidance control strategy based on a rule base and a closed loop control structure based on PID algorithm are proposed, which can improve the robot fish's perception and reaction abilities to the surrounding environment. Finally, experiments are carried out to examine the feasibility of the proposed control strategy.
AB - Fish has attracted the attentions of researchers because of its excellent swimming performance in water, and biomimetic robot fish was then developed. For robot fish, it is quite significant to perceive its surroundings and then take actions automatically due to the unexpected obstacles. In this paper, a wire-driven robot fish, which can detect obstacles, is designed. We adopt Central Pattern Generator (CPG) for motion control of the robot fish which is capable for smooth transitions among different swimming modes. Moreover, an obstacle avoidance control strategy based on a rule base and a closed loop control structure based on PID algorithm are proposed, which can improve the robot fish's perception and reaction abilities to the surrounding environment. Finally, experiments are carried out to examine the feasibility of the proposed control strategy.
KW - Central Pattern Generator
KW - Obstacle Avoidance
KW - Robot Fish
UR - https://www.scopus.com/pages/publications/85079075109
U2 - 10.1109/ROBIO49542.2019.8961857
DO - 10.1109/ROBIO49542.2019.8961857
M3 - 会议稿件
AN - SCOPUS:85079075109
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 326
EP - 331
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -