A novel trajectory planning method for a robotic fish
A novel trajectory planning method for a robotic fish
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DOI：
10.1109/med.2017.7984268
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Michail Makrodimitris;Kostas Nanos;E. Papadopoulos
中科院分区：
文献类型：
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作者：
Michail Makrodimitris;Kostas Nanos;E. Papadopoulos
近年来，人们对仿生水下航行器的兴趣日益浓厚。虽然在机器鱼的动力学和运动学领域已经进行了大量的研究，但大多数方法都是通过求出尾鳍为使机器鱼沿着轨迹运动所应产生的力来解决反问题。另一些则使用预定义的波动体运动，通常近似于简单平面几何形状（如圆和直线）的路径。如果机器鱼真的能沿着给定的轨迹运动，这些尝试就不能得出先验的结论。更重要的是，他们不能推导出尾鳍的轨迹，以确保鱼会遵循给定的平面轨迹。在本文中，我们提出了一种新颖而通用的方法来寻找机器鱼的尾鳍应该如何移动，从而使机器鱼遵循任何平面轨迹。此外，我们确定了先验预测机器鱼是否能够遵循给定轨迹必须满足的充分条件。据作者所知，这是第一次提出这样的方法。最后给出了实验结果，证明了该方法的优越性。
Recently, there has been a growing interest in biomimetic underwater vehicles. Although a lot of research has been conducted in the area of dynamics and kinematics of robotic fish, most of the approaches solve the inverse problem by finding the required force the caudal fin should produce, in order for the robotic fish to follow a trajectory. Others use predefined undulatory body motions which usually approximate paths of simple planar geometrical shapes, such as circles and straight lines. The attempts cannot conclude a priori if a robotic fish can actually follow the given trajectory. More importantly, they cannot derive caudal fin trajectories that will ensure that the fish will follow a given planar trajectory. In this paper we present a novel and universal methodology for finding how the caudal fin of a robotic fish should move, so that the robotic fish follows any planar trajectory. Also, we identify the sufficient conditions, which must be satisfied to predict a priori, whether the robotic fish is able to follow a given trajectory. To the best of the knowledge of the authors, this is the first time that such a methodology is presented. Finally, experimental results are provided, showing the merits of the developed method.