Against the flow: A Braitenberg controller for a fish robot

Taavi Salumäe*, Iñaki Rañó, Otar Akanyeti, Maarja Kruusmaa

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

39 Dyfyniadau(SciVal)


Underwater vehicles do not localise or navigate with respect to the flow, an ability needed for many underwater tasks. In this paper we implement rheotaxis behaviour in a fish robot, a behaviour common to many aquatic species. We use two pressure sensors on the head of the robot to identify the pressure differences on the left and right side and control the heading of the fish robot by turning a servo-motor actuated tail. The controller is inspired by the Braitenberg vehicle 2b, a simple biological model of tropotaxis, that has been used in many robotic applications. The experiments, conducted in a flow pipe with a uniform flow, show that the robot is able to orient itself, and keep the orientation, to the incoming current. Our results demonstrate that guidance of a fish robot relative to a flow can be implemented as a simple rheotaxis behaviour using two sensors and a Braitenberg 2b controller.

Iaith wreiddiolSaesneg
Teitl2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CyhoeddwrIEEE Press
Nifer y tudalennau6
ISBN (Argraffiad)9781467314039
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 28 Meh 2012
Cyhoeddwyd yn allanolIe
DigwyddiadRobotics and Automation - Saint Paul, MN, Unol Daleithiau America
Hyd: 14 Mai 201218 Mai 2012
Rhif y gynhadledd: 2012

Cyfres gyhoeddiadau

EnwProceedings - IEEE International Conference on Robotics and Automation
ISSN (Argraffiad)1050-4729


CynhadleddRobotics and Automation
Teitl crynoICRA
Gwlad/TiriogaethUnol Daleithiau America
DinasSaint Paul, MN
Cyfnod14 Mai 201218 Mai 2012

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