Coordinated Collision Avoidance of Multiple Biomimetic Robotic Fish

This paper presents a novel reactive collision avoidance method among multiple biomimetic robotic fish with kinematic constraints. Based on successfully developing a robotic fish prototype, we step further to study navigation problem of robotic fish in dynamic water environments. Considering the nonholonomic properties and the inherent kinematic constraints of the robotic fish, limit cycle approach is employed with which the robotic fish can avoid one another smoothly and efficiently. The effectiveness of the proposed method is verified through experiments conducted with three robotic fish.

[1]  Javier Minguez,et al.  Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios , 2004, IEEE Transactions on Robotics and Automation.

[2]  Long Wang,et al.  A framework for biomimetic robot fish's design and its realization , 2005, Proceedings of the 2005, American Control Conference, 2005..

[3]  Guangming Xie,et al.  Coordinating Dual-Mode Biomimetic Robotic Fish in Box-Pushing Task , 2005, ECAL.

[4]  Long Wang,et al.  Behaviroal design and strategy for cooperative multiple-biomimetic-robot-fish system , 2005, 2005 IEEE International Conference on Robotics and Biomimetics - ROBIO.

[5]  M. J. Wolfgang,et al.  Drag reduction in fish-like locomotion , 1999, Journal of Fluid Mechanics.

[6]  Michael Sfakiotakis,et al.  Review of fish swimming modes for aquatic locomotion , 1999 .

[7]  Edgar N. Sánchez,et al.  Fuzzy logic-based real-time navigation controller for a mobile robot , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[8]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[9]  N. Shimkin,et al.  Behavior-based navigation for an indoor mobile robot , 2000, 21st IEEE Convention of the Electrical and Electronic Engineers in Israel. Proceedings (Cat. No.00EX377).

[10]  Zhang Bo,et al.  Time-varying potential field based 'perception-action' behaviors of mobile robot , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[11]  Guangming Xie,et al.  Performance optimization and coordinated control of multiple biomimetic robotic fish , 2005, 2005 IEEE International Conference on Robotics and Biomimetics - ROBIO.

[12]  Yoram Koren,et al.  The vector field histogram-fast obstacle avoidance for mobile robots , 1991, IEEE Trans. Robotics Autom..

[13]  Kimon P. Valavanis,et al.  Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic , 2001, IEEE Trans. Robotics Autom..

[14]  Wolfgang Banzhaf,et al.  Advances in Artificial Life , 2003, Lecture Notes in Computer Science.

[15]  Long Wang,et al.  Parameter Optimization of Simplified Propulsive Model for Biomimetic Robot Fish , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.