Hydrodynamic performance of a biomimetic undulating fin robot under different water conditions

Shi, Xindong; Chen, Zhenhan; Zhang, Tangjia; Li, Shijie; Zeng, Yangbin; Chen, Long; Hu, Qiao

doi:10.1016/j.oceaneng.2023.116068

Cited by 4 publications

(1 citation statement)

References 39 publications

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“…However, they often encounter challenges like large disturbances, high destructiveness, and poor maneuverability, preventing them from seamlessly integrating with the natural environment. In recent years, with the development of biomimetics and robotics, significant progress has been made in underwater biomimetic robots [ 3 , 4 , 5 ]. Drawing inspiration from different marine organisms, various biomimetic platforms have emerged, such as robotic tuna [ 6 ], robotic sharks [ 7 ], robotic manta [ 8 ], robotic dolphins [ 9 ], and so on [ 10 ].…”

Section: Introductionmentioning

confidence: 99%

Toward the Intelligent, Safe Exploration of a Biomimetic Underwater Robot: Modeling, Planning, and Control

Wang,

et al. 2024

Biomimetics

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Safe, underwater exploration in the ocean is a challenging task due to the complex environment, which often contains areas with dense coral reefs, uneven terrain, or many obstacles. To address this issue, an intelligent underwater exploration framework of a biomimetic robot is proposed in this paper, including an obstacle avoidance model, motion planner, and yaw controller. Firstly, with the aid of the onboard distance sensors in robotic fish, the obstacle detection model is established. On this basis, two types of obstacles, i.e., rectangular and circular, are considered, followed by the obstacle collision model’s construction. Secondly, a deep reinforcement learning method is adopted to plan the plane motion, and the performances of different training setups are investigated. Thirdly, a backstepping method is applied to derive the yaw control law, in which a sigmoid function-based transition method is employed to smooth the planning output. Finally, a series of simulations are carried out to verify the effectiveness of the proposed method. The obtained results indicate that the biomimetic robot can not only achieve intelligent motion planning but also accomplish yaw control with obstacle avoidance, offering a valuable solution for underwater operation in the ocean.

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