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	Collision-free motion planning for a biomimetic robotic fish based on numerical flow field
	Jinyan, Shao ; Long, Wang ; Junzhi, Yu.
	2006
英文摘要	In this paper, we investigate motion planning for a biomimetic robotic fish which swims in underwater cluttered environment For the collision-free motion planning problem, a widespread approach is to decouple it into two subproblems: paths generation and tracking control (or feedback regulation). However, consider the special propulsion mechanism and kinematic property of the robotic fish, it is difficult for it to track a predetermined path. To cope with this situation, a novel approach based on numerical flow field is proposed, which will generate a feasible velocity vector field instead of a determined path. Then the robotic fish will be inducted by a series of feasible velocity vectors to reach its destination. Experiments are conducted to verify the effectiveness of our approach. ? 2006 IEEE.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/328054]
专题	工学院
推荐引用方式 GB/T 7714	Jinyan, Shao,Long, Wang,Junzhi, Yu.. Collision-free motion planning for a biomimetic robotic fish based on numerical flow field[C]. 见:.

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