DocumentCode
426044
Title
Building a 3D simulator for autonomous navigation of robotic fishes
Author
Liu, Jindong ; Hu, Huosheng
Author_Institution
Dept. of Comput. Sci., Essex Univ., Colchester, UK
Volume
1
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
613
Abstract
This paper presents a 3D simulator used for studying the motion control and autonomous navigation of a robotic fish. The simplified kinematics and hydrodynamics models are created for the simulator, including many other object models such as water, obstacles, sonar sensors and a swimming pool. The experimental results show that the use of this simulator is a realistic and convenient way to develop autonomous navigation algorithms for robotic fishes.
Keywords
mobile robots; motion control; path planning; simulation; 3D simulator; autonomous navigation; motion control; obstacle; robotic fish; sonar sensor; swimming pool; water; Computational modeling; Educational robots; Hydrodynamics; Marine animals; Mobile robots; Motion control; Propulsion; Robot sensing systems; Service robots; Sonar navigation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389420
Filename
1389420
Link To Document