• Login
    View Item 
    •   Shocker Open Access Repository Home
    • Engineering
    • Electrical Engineering and Computer Science
    • EECS Faculty Scholarship
    • EECS Research Publications
    • View Item
    •   Shocker Open Access Repository Home
    • Engineering
    • Electrical Engineering and Computer Science
    • EECS Faculty Scholarship
    • EECS Research Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Collision avoidance by IPMC actuated robotic fish using the Collision Cone Approach

    Date
    2016
    Author
    Sunkara, Vishwamithra Reddy
    Ye, Zhihang
    Chakravarthy, Animesh
    Chen, Zheng
    Metadata
    Show full item record
    Citation
    V. Sunkara, Z. Ye, A. Chakravarthy and Z. Chen, "Collision avoidance by IPMC actuated robotic fish using the collision cone approach," 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), San Francisco, CA, 2016, pp. 238-245
    Abstract
    This paper addresses the problem of collision avoidance by robotic fish that have one caudal and two pectoral fins, all driven by Ionic Polymer-Metal Composite (IPMC) actuators, which are often called artificial muscles. A dynamic model of the robotic fish is developed. A collision cone approach is employed, using which an analytical expression of a nonlinear guidance law that generates the requisite acceleration for collision avoidance is determined. This acceleration vector is converted into fin thrusts that satisfy the constraint that all the thrusts are non-negative. The developed guidance law is tested on an integrated simulation setup comprising the dynamic model of the robotic fish, the dynamics of the IPMC actuator and the relative velocity kinematics of the fish to obstacles in its path, and simulations demonstrate the satisfactory working of the integrated system.
    Description
    Click on the DOI link to access the article (may not be free).
    URI
    http://dx.doi.org/10.1109/SIMPAR.2016.7862402
    http://hdl.handle.net/10057/13851
    Collections
    • EECS Research Publications

    Browse

    All of Shocker Open Access RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsBy TypeThis CollectionBy Issue DateAuthorsTitlesSubjectsBy Type

    My Account

    LoginRegister

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    DSpace software copyright © 2002-2022  DuraSpace
    DSpace Express is a service operated by 
    Atmire NV