Abstract
This paper investigates the three-dimensional (3-D) path following control problem for an under-actuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established, followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-of-sight (LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity, intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.
Similar content being viewed by others
References
Yu J Z, Wu Z X, Su Z S, et al. Motion control strategies for a repetitive leaping robotic dolphin. IEEE/ASME Trans Mechatron, 2019, 24: 913–923
Yao P, Qi S B. Obstacle-avoiding path planning for multiple autonomous underwater vehicles with simultaneous arrival. Sci China Technol Sci, 2019, 62: 121–132
Nakashima M, Tsubaki T, Ono K. Three-dimensional movement in water of the dolphin robot-control between two positions by roll and pitch combination. J Robot Mechatron, 2006, 18: 347–355
Wu Z X, Yu J Z, Yuan J, et al. Gliding motion regulation of a robotic dolphin based on a controllable fluke. IEEE Trans Ind Electron, 2020, 67: 2945–2953
Wu Z X, Yu J Z, Yuan J, et al. Towards a gliding robotic dolphin: design, modeling, and experiments. IEEE/ASME Trans Mechatron, 2019, 24: 260–270
Wang J, Wu Z X, Tan M, et al. 3-D path planning with multiple motions for a gliding robotic dolphin. IEEE Trans Syst Man Cybern Syst, 2019. doi: https://doi.org/10.1109/TSMC.2019.2917635
Yu J Z, Su Z S, Wang M, et al. Control of yaw and pitch maneuvers of a multilink dolphin robot. IEEE Trans Robot, 2012, 28: 318–329
Shen F, Wei C M, Cao Z Q, et al. Implementation of a multi-link robotic dolphin with two 3-DOF flippers. J Comput Inform Syst, 2010, 7: 2601–2607
Wang Y L, Tai C H, Huang H R. Design and development of an autonomous underwater vehicle-robot dolphin. J Mar Eng Tech, 2015, 14: 44–55
Yu J Z, Liu J C, Wu Z X, et al. Depth control of a bioinspired robotic dolphin based on sliding-mode fuzzy control method. IEEE Trans Ind Electron, 2018, 65: 2429–2438
Liu J C, Wu Z X, Yu J Z, et al. Sliding mode fuzzy control-based path-following control for a dolphin robot. Sci China Inf Sci, 2018, 61: 024201
Park S S. Design of three-dimensional path following guidance logic. Int J Aerosp Eng, 2018, 2018: 9235124
Zheng Z W, Sun L, Xie L H. Error-constrained LOS path following of a surface vessel with actuator saturation and faults. IEEE Trans Syst Man Cybern Syst, 2018, 48: 1794–1805
Breivik M, Fossen T I. Path following for marine surface vessels. In: Proceedings of IEEE Techno-Ocean’04, 2004. 2282–2289
Wang Y H, Tong H Y, Fu M Y. Line-of-sight guidance law for path following of amphibious hovercrafts with big and time-varying sideslip compensation. Ocean Eng, 2019, 172: 531–540
Bai T T, Wang D B. Cooperative trajectory optimization for unmanned aerial vehicles in a combat environment. Sci China Inf Sci, 2019, 62: 010205
Kelasidi E, Liljeback P, Pettersen K Y, et al. Integral line-of-sight guidance for path following control of underwater snake robots: theory and experiments. IEEE Trans Robot, 2017, 33: 610–628
Caharija W, Pettersen K Y, Bibuli M, et al. Integral line-of-sight guidance and control of underactuated marine vehicles: theory, simulations, and experiments. IEEE Trans Contr Syst Technol, 2016, 24: 1623–1642
Lekkas A. Guidance and path-planning systems for autonomous vehicles. Dissertation for Ph.D. Degree. Trondheim: Norwegian University of Science and Technology, 2014
Zuo Z Y, Cheng L, Wang X X, et al. Three-dimensional path-following backstepping control for an underactuated stratospheric airship. IEEE Trans Aerosp Electron Syst, 2019, 55: 1483–1497
Breivik M, Fossen T I. Principles of guidance-based path following in 2D and 3D. In: Proceedings of IEEE International Conference on Decision Control, Seville, 2005. 627–634
Wang G X, Xu G H, Liu G, et al. Fuzzy iterative sliding mode control applied for path following of an autonomous underwater vehicle with large inertia. Math Probl Eng, 2019, 2019: 8650243
Liu J C, Wu Z X, Yu J Z, et al. Flippers-based turning analysis and implementation of a dolphin robot. In: Proceedings of IEEE International Conference on Robotics and Biomimetics, Macao, 2017. 141–146
Fossen T I. Handbook of Marine Craft Hydrodynamics and Motion Control. United Kingdom: John Wiley & Sons Ltd, 2011
Xiang X B, Yu C Y, Zhang Q. Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties. Comput Oper Res, 2017, 74: 165–177
Yu C Y, Xiang X B, Dai J R. 3D path following for underactuated AUV via nonlinear fuzzy controller. In: Proceedings of OCEANS 2016, Shanghai, 2016. 1–7
Breivik M, Fossen T I. Guidance Laws for Autonomous Underwater Vehicles. Rijeka: InTech, 2009
Acknowledgements
This work was supported by National Natural Science Foundation of China (Grant Nos. 61903007, 61633017, 61633004, 61725305, 61973007, U1909206), Pre-research Fund of Equipment of China (Grant No. 61402070304), Key Research and Development and Transformation Project of Qinghai Province (Grant No. 2017-GX-103), and Youth Innovation Science and Technology Plan of Shandong Province (Grant No. 2019KJN015).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Liu, J., Liu, Z. & Yu, J. Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin. Sci. China Inf. Sci. 64, 112210 (2021). https://doi.org/10.1007/s11432-019-2743-8
Received:
Revised:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11432-019-2743-8