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http://dx.doi.org/10.6109/jkiice.2014.18.4.906

Geometric Path Tracking for a Fish Robot  

Park, Jin-Hyun (Dept. of Mechatronics Eng., Kyeognam National University of Science and Technology)
Choi, Young-Kiu (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.18, no.4, 2014 , pp. 906-912 More about this Journal
Abstract
The study of fish robot is a main subject that are related with the propulsive force comparison using a varying amplitude and frequency for body and tail motion trajectory, and the quick turn using a proper trajectory function. In this study, when a fish robot thrusts forward, feedback control is difficult to apply for a fish robot, because body and tail joints as a sine wave are rolled. Therefore, we detect the virtual position based on the path of the fish robot, define the angle errors using the detected position and the look-ahead point on the given path, and design a controller to track given path. We have found that the proposed method is useful through the computer simulations.
Keywords
fish robot; path tracking; look-ahead point;
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Times Cited By KSCI : 1  (Citation Analysis)
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