A Coordination Method for Multiple Biomimetic Robotic Fish in Underwater Transport Task

摘要

This paper gives a coordination method for multiple biomimetic robotic fish in underwater transport task. Considering the inherent kinematic constraints of the robotic fish, and the unstructured and dynamic characteristics of the water environment, the limit cycle approach is utilized to control the posture of the fish, and realize collision avoidance. To control the transport orientation in the particular underwater environment, fuzzy logic method is adopted. Experimental results performed by three robotic fish validate the effectiveness of the proposed method.