A marsupial robotic fish team: Design, motion and cooperation  

作　　者：ZHOU Chao CAO ZhiQiang WANG Shuo TAN Min 

机构地区：[1]Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China

出　　处：《Science China(Technological Sciences)》2010年第11期2896-2904,共9页中国科学(技术科学英文版)

基　　金：supported in part by the National Natural Science Founda-tion of China (Grant Nos. 60805038, 60725309, 60635010)

摘　　要：A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.

关 键 词：marsupial robotic fish daughter-mother following heterogeneous communication-based FSM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]