Abstract
Aiming at the needs of civil market tasks such as autonomous swimming display of pools in the aquarium and special tasks such as intelligent autonomous patrol in specific water areas, this paper proposes a task driven control method for manta robot to circumnavigate around the shores. We equip the robot fish with a complete information sensing network and realize its driving and yaw control basing on the CPG phase oscillator network. We generate an offline look-up table by using fuzzy control method, and realize the closed-loop control of heading by looking up this table. Basing on the requirements of the circumnavigation task, we propose a real-time obstacle avoidance strategy combined with the infrared range sensor information. Finally, we build an experimental pool platform to conduct underwater alongshore circumnavigating experiments of the robot fish, and the experimental results prove the effectiveness of the overall scheme.
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Yang, B., Cao, Y., Xie, Y., Cao, Y., Pan, G. (2023). Alongshore Circumnavigating Control of a Manta Robot Based on Fuzzy Control and an Obstacle Avoidance Strategy. In: Sun, F., Cangelosi, A., Zhang, J., Yu, Y., Liu, H., Fang, B. (eds) Cognitive Systems and Information Processing. ICCSIP 2022. Communications in Computer and Information Science, vol 1787. Springer, Singapore. https://doi.org/10.1007/978-981-99-0617-8_29
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DOI: https://doi.org/10.1007/978-981-99-0617-8_29
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