论文信息 - Building a 3D simulator for autonomous navigation of robotic fishes

Building a 3D simulator for autonomous navigation of robotic fishes

This paper presents a 3D simulator used for studying the motion control and autonomous navigation of a robotic fish. The simplified kinematics and hydrodynamics models are created for the simulator, including many other object models such as water, obstacles, sonar sensors and a swimming pool. The experimental results show that the use of this simulator is a realistic and convenient way to develop autonomous navigation algorithms for robotic fishes.

Huosheng Hu | Jindong Liu

[1] P. Webb. Form and Function in Fish Swimming , 1984 .

[2] Junzhi Yu,et al. A simplified propulsive model of bio-mimetic robot fish and its realization , 2005, Robotica.

[3] William F. Gates,et al. Animation of Fish Swimming , 2002 .

[4] Xiaoyuan Tu,et al. Artificial Animals for Computer Animation: Biomechanics, Locomotion, Perception, and Behavior , 1999, Lecture Notes in Computer Science.

[5] M. Lighthill. Note on the swimming of slender fish , 1960, Journal of Fluid Mechanics.

[6] N. Kato,et al. Control performance in the horizontal plane of a fish robot with mechanical pectoral fins , 2000, IEEE Journal of Oceanic Engineering.

[7] Billur Barshan,et al. Reliability measure assignment to sonar for robust target differentiation , 2002, Pattern Recognit..

[8] Michael S. Triantafyllou,et al. Efficient Foil Propulsion Through Vortex Control , 1996 .

[9] Paul S. Heckbert,et al. Graphics gems IV , 1994 .

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

[11] Shuxiang Guo,et al. Development of underwater microrobot using ICPF actuator , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[12] Richard J. Rabbitz,et al. Fast Collision Detection of Moving Convex Polyhedra , 1994, Graphics Gems.