Coordinated Collision Avoidance of Multiple Biomimetic Robotic Fish

  • Dandan Zhang
  • Long Wang
  • Guangming Xie
  • Weicun Zhang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3809)


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.


Mobile Robot Collision Avoidance Body Wave Goal Location Translational Velocity 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Dandan Zhang
    • 1
  • Long Wang
    • 1
  • Guangming Xie
    • 1
  • Weicun Zhang
    • 2
  1. 1.Intelligent Control Laboratory, Center for Systems and Control, Department of Mechanics and Engineering SciencePeking UniversityBeijingP.R. China
  2. 2.Automation DepartmentUniversity of Science and Technology BeijingBeijingP.R. China

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