期刊
IEEE JOURNAL OF OCEANIC ENGINEERING
卷 25, 期 1, 页码 121-129出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/48.820744
关键词
biomimesis; fuzzy control; guidance and control; mechanical pectoral fin; water current
The mechanism of locomotion of aquatic animals can provide us with new insight into the maneuverability and stabilization of underwater robots. This paper focuses on biomimesis in the maneuvering performance of aquatic animals to develop a new device for maneuvering underwater robots. In this paper, guidance and control in the horizontal plane of a fish robot equipped with a pair of two-motor-driven mechanical pectoral fins on both sides of the robot in water currents is presented. The fish robot demonstrates high performance in terms of maneuverability in such activities as lateral swimming. The use of fuzzy control enables the fish robot to perform rendezvous and docking with an underwater post in water currents.
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