Title :
Source seeking for a three-link model of fish locomotion
Author :
Cochran, Jennie ; Kanso, Eva ; Krstic, Miroslav
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA, USA
Abstract :
We present a method of locomotion control for underwater vehicles which are propelled by a periodic deformation of the vehicle body, similar to the way a fish moves. The control law employs extremum seeking, which is a non-model based method that has been used recently in ldquosource seekingrdquo control for nonholonomic mobile robots. In this paper we present a design for a fish model consisting of three rigid body links and employing a two degree of freedom, non-reciprocal, movement which propels the fish through a perfect fluid without the use of a Kutta condition to shed vortices. In a companion paper we present results for a second fish model based on a Joukowski airfoil which has only one degree of freedom in its movement, and thus relies on vortex shedding to move through a perfect fluid. With the use of extremum seeking, we achieve the same results in each case: The fish is capable of performing dasiasource seekingpsila in GPS-denied underwater environments, and, if position measurement is available, it is capable of navigating from point A to point B, as well as along a predetermined path.
Keywords :
mobile robots; motion control; underwater vehicles; GPS; Joukowski airfoil; Kutta condition; fish locomotion; locomotion control; nonholonomic mobile robots; source seeking control; underwater vehicles; vortex shedding; Aerospace engineering; Automotive components; Deformable models; Marine animals; Navigation; Performance evaluation; Position measurement; Propulsion; Shape control; Underwater vehicles;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160256