Bioinspired pursuit with a swimming robot using feedback control of an internal rotor
Bioinspired pursuit with a swimming robot using feedback control of an internal rotor
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DOI：
10.1088/1748-3190/ab745e
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发表时间：
2020-05-01
影响因子：
3.4
通讯作者：
Paley, Derek A.
中科院分区：
文献类型：
--
作者：
Free, Brian A.;Lee, Jinseong;Paley, Derek A.
捕获的理论保证变得复杂的情况下，游泳的鱼或鱼机器人，因为振荡性质的鱼的标题。建立在游泳的鱼和典型的Chaubergin雪橇之间的连接，一种新的状态反馈控制律，导致在闭环动态，表现出一个极限环，从而在稳定的向前游泳运动在所需的标题。对该极限环的分析揭示了所需航向周围振荡大小的边界，然后使用这些边界来指定在什么条件（例如猎物速度、捕食者速度、控制增益）下保证捕获。通过改变所需的游泳方向响应猎物的运动，控制律被证明是能够纯追求，偏离纯追求，拦截，并在仿真中的平行导航。介绍了一种由内反作用轮驱动的柔性仿鱼机器人的纯追逐实验。
Theoretical guarantees of capture become complicated in the case of a swimming fish or fish robot because of the oscillatory nature of the fish heading. Building on the connection between a swimming fish and the canonical Chaplygin sleigh, a novel state feedback control law is shown to result in closed-loop dynamics that exhibit a limit cycle resulting in steady forward-swimming motion in a desired heading. Analysis of this limit cycle reveals boundaries on the size of the oscillations around the desired heading, which are then used to specify under what conditions (e.g. prey speed, predator speed, control gains) capture is guaranteed. By changing the desired swimming direction in response to prey movements, the control law is shown to be capable of pure pursuit, deviated pure pursuit, intercept, and parallel navigation in simulation. An experimental demonstration of pure pursuit by a flexible fish-inspired robot actuated with an internal reaction wheel is described.