Conference paper
Robotic fish path planning in complex environment
2019 Chinese Control Conference (CCC)
Chinese Control Conference (CCC) 2019 (Guangzhou, China, 27/07/2019–30/07/2019)
2019
Abstract
In this paper, ant colony (ACO) algorithm and steering model of robotic fish are combined for path planning. Firstly, an environmental model with multiple obstacles is established. Then, the ACO algorithm is used to generate feasible path. An optimal path is obtained which satisfies the principle of shortest path and least energy consumption. Sharp turns in the generated optimal path are replaced by small arcs that allow the robotic fish to move normally. Finally, a series of simulation experiments are carried out to verify the excellent performance and effectiveness of proposed algorithm.
Details
- Title
- Robotic fish path planning in complex environment
- Authors/Creators
- N. Hou (Author/Creator) - Hefei University of TechnologyH. Wang (Author/Creator) - Hefei University of TechnologyM. Yu (Author/Creator) - Hefei University of TechnologyL. Chen (Author/Creator) - Hangzhou Dianzi UniversityZ. Cao (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of Technology
- Publication Details
- 2019 Chinese Control Conference (CCC)
- Conference
- Chinese Control Conference (CCC) 2019 (Guangzhou, China, 27/07/2019–30/07/2019)
- Identifiers
- 991005542322207891
- Murdoch Affiliation
- College of Science, Health, Engineering and Education
- Language
- English
- Resource Type
- Conference paper
Metrics
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