Collision avoidance by IPMC actuated robotic fish using the collision cone approach

2016 ◽  
Author(s):  
V. Sunkara ◽  
Z. Ye ◽  
A. Chakravarthy ◽  
Z. Chen
Keyword(s):  
Collision Avoidance ◽  
Robotic Fish

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

2019 ◽  
Author(s):  
Xiongfeng Yi ◽  
Zheng Chen ◽  
Animesh Chakravarthy
Keyword(s):  
Transfer Function ◽  
Collision Avoidance ◽  
Robotic Fish ◽  
Metal Composite ◽  
Servo Motor ◽  
Centripetal Acceleration ◽  
Collision Avoidance Control ◽  
Polymer Metal ◽  
Avoidance Control ◽  
Specific Frequency

Abstract This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish’s trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the ‘back relaxation’ of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impulsive turning speed due to the ‘back relaxation’ of IPMC joint is subsequently modeled by a transfer function and this transfer function is then integrated into the development of the collision avoidance laws for the fish. The collision avoidance control law utilizes the impulsive turning capability of the robotic fish. An experimental validation of the collision avoidance law is performed.

Cooperative Optimal Collision Avoidance Laws for a Hybrid-Tailed Robotic Fish

2020 ◽  
Vol 28 (4) ◽  
pp. 1569-1578
Author(s):  
Vishwamithra Sunkara ◽  
Animesh Chakravarthy ◽  
Xiongfeng Yi ◽  
Wenyu Zuo ◽  
Zheng Chen
Keyword(s):  
Collision Avoidance ◽  
Robotic Fish
Sign in / Sign up

Export Citation Format

Share Document