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Obstacle Avoidance and Path Planning Based on Flow Field for Biomimetic Robotic Fish

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AI 2005: Advances in Artificial Intelligence (AI 2005)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3809))

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Abstract

This paper investigates the problem of obstacle avoidance and path planning for robotic fish. The swimming of the robot fish to avoid some obstacles is viewed as potential flow around the obstacles. Then the streamlines from the robot position to the target are chosen as the desired paths for the mobile robot to move to the destination. Since there are mature algorithms with high computational efficiency to establish flow field and figure out the streamlines based on fluid mechanics theory, our approach is practical for application. We conduct two example experiments to verify the effectiveness of the approach.

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References

  1. Yu, J., Wang, L., Tan, M.: A framework for biomimetic robot fish design and its realization. In: Proceedings of American Control Conference, Portland, USA, pp. 1593–1598 (2005)

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  2. Yu, J., Wang, L.: Parameter optimization of simplified propulsive model for biomimetic robot fish. In: Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 3317–3322 (2005)

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  3. Anderson, J.D.: Computational Fluid Dynamics. McGraw-Hill Companies, Inc., New York (2002)

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Author information

Authors and Affiliations

  1. Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing, 100871, P.R. China

    Jinyan Shao, Guangming Xie & Long Wang

  2. Automation Department, University of Science and Technology Beijing, Beijing, 100083, P.R. China

    Weicun Zhang

Authors
  1. Jinyan Shao
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  2. Guangming Xie
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  3. Long Wang
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  4. Weicun Zhang
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Editor information

Editors and Affiliations

  1. Guangxi Normal University, College of CS and IT, Guilin, China, and University of Technology, Faculty of Engineering and Information Technology, Sydney, Australia

    Shichao Zhang

  2. Department of Electrical and Computer Systems Engineering, Monash University, 3800, Melbourne, Victoria, Australia

    Ray Jarvis

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© 2005 Springer-Verlag Berlin Heidelberg

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Shao, J., Xie, G., Wang, L., Zhang, W. (2005). Obstacle Avoidance and Path Planning Based on Flow Field for 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_96

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  • DOI: https://doi.org/10.1007/11589990_96

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-30462-3

  • Online ISBN: 978-3-540-31652-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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