Abstract
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.
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Zhang, D., Wang, L., Xie, G., Zhang, W. (2005). Coordinated Collision Avoidance of Multiple Biomimetic Robotic Fish. In: Zhang, S., Jarvis, R. (eds) AI 2005: Advances in Artificial Intelligence. AI 2005. Lecture Notes in Computer Science(), vol 3809. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11589990_24
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DOI: https://doi.org/10.1007/11589990_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30462-3
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