Formation Control of Multiple Biomimetic Robotic Fish
Jinyan Shao, Junzhi Yu, Long Wang · 2006
This paper presents a new method for formation control of multiple underwater fish-like robots. Considering both geometrical and mechanical constrains of the fish-like robots and based on the leader-following approach, a curvature coordinate is introduced to describe relative positions between different members within formations. Both the static and dynamic formations are concerned. We conduct simulations and physical experiments to verify effectiveness of the proposed algorithms