Gliding Robotic Fish: An Underwater Sensing Platform and Its Spiral-Based Tracking in 3D Space

被引：3

作者：

Zhang, Feitian ^{[1
]}

Ennasr, Osama ^{[2
]}

Tan, Xiaobo ^{[2
]}

机构：

[1] George Mason Univ, Dept Elect & Comp Engn, 4400 Univ Dr,MSN 1G5, Fairfax, VA 22033 USA

[2] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA

来源：

MARINE TECHNOLOGY SOCIETY JOURNAL | 2017年 / 51卷 / 05期

基金：

美国国家科学基金会;

关键词：

gliding robotic fish; spiraling motion; curve tracking; differential geometry; VEHICLES; DESIGN;

D O I：

10.4031/MTSJ.51.5.6

中图分类号：

P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Gliding robotic fish are a new type of underwater robot that combines the advantages of energy efficiency of underwater gliders and high maneuverability of robotic fish. Tail-enabled spiraling, as a novel locomotion pattern of gliding robotic fish, uses a buoyancy-driven mechanism and features a small turning radius. This paper investigates the spiral trajectory characteristics from the viewpoint of differential geometry and exploits them for curve tracking in the 3D space. The influences of control inputs on spiral trajectories are investigated through both simulation and experiments. A simulation example using a combined feedforward and feedback controller illustrates the proposed curve-tracking approach.

引用

页码：71 / 78

页数：8

共 21 条

[1]

[Anonymous], 2010, Springer Undergraduate Mathemtics Series

[2] Nonlinear gliding stability and control for vehicles with hydrodynamic forcing [J].

Bhatta, Pradeep ;

Leonard, Naomi Ehrich .

AUTOMATICA, 2008, 44 (05) :1240-1250

[3] Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer-Metal Composite Caudal Fin [J].

Chen, Zheng ;

Shatara, Stephan ;

Tan, Xiaobo .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2010, 15 (03) :448-459

[4]

Graver J.G., 2005, Underwater gliders: Dynamics, control, and design

[5] Model-based feedback control of autonomous underwater gliders [J].

Leonard, NE ;

Graver, JG .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2001, 26 (04) :633-645

[6] Approximate Analytical Turning Conditions for Underwater Gliders: Implications for Motion Control and Path Planning [J].

Mahmoudian, Nina ;

Geisbert, Jesse ;

Woolsey, Craig .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2010, 35 (01) :131-143

[7]

MITCHELL B, 2013, P IEEE INT C ROB AUT, P3423

[8] Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles [J].

Morgansen, Kristi A. ;

Triplett, Benjamin I. ;

Klein, Daniel J. .

IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (06) :1184-1199

[9] Robotic Fish Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education [J].

Phamduy, Paul ;

LeGrand, Raymond ;

Porfiri, Maurizio .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2015, 22 (01) :86-96

[10] The autonomous underwater glider "spray" [J].

Sherman, J ;

Davis, RE ;

Owens, WB ;

Valdes, J .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2001, 26 (04) :437-446

← 1 2 3 →