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dc.contributor.authorSunkara, Vishwamithra Reddy
dc.contributor.authorYe, Zhihang
dc.contributor.authorChakravarthy, Animesh
dc.contributor.authorChen, Zheng
dc.identifier.citationV. 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. 238-245en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipNational Science Foundation under Grants IIS-1351677 and CNS-1446557.en_US
dc.relation.ispartofseriesIEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR);
dc.subjectCollision avoidanceen_US
dc.subjectNonlinear dynamical systemsen_US
dc.subjectMathematical modelen_US
dc.subjectRobot kinematicsen_US
dc.titleCollision avoidance by IPMC actuated robotic fish using the Collision Cone Approachen_US
dc.typeConference paperen_US
dc.rights.holderCopyright © 2016, IEEEen_US

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