The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin
In this study, the C-turning, pitching, and flapping propulsion of a robotic dolphin during locomotion were explored. Considering the swimming action required of a three-dimensional (3D) robotic dolphin in the ocean, we propose a maneuverability model that can be applied to the flapping motion to pr...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2021/4203914 |
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| author | Zhibin Xue Liangliang Li Yixiao Song |
| author_facet | Zhibin Xue Liangliang Li Yixiao Song |
| author_sort | Zhibin Xue |
| collection | DOAJ |
| description | In this study, the C-turning, pitching, and flapping propulsion of a robotic dolphin during locomotion were explored. Considering the swimming action required of a three-dimensional (3D) robotic dolphin in the ocean, we propose a maneuverability model that can be applied to the flapping motion to provide precise and stable movements and function as the driving role in locomotion. Additionally, an added tail joint allows for the turning movement with efficient parameters obtained by a fluid-structure coupling method. To obtain a mathematical model, several disturbance signals were considered, including systematic uncertainties of the parameters, the perpetually changing environment, the interference from obstacles with effective fuzzy rules, and a sliding mode of control. Furthermore, a combined strategy of environment recognition was used for the positional control of the robotic dolphin, incorporating sonar, path planning with an artificial potential field, and trajectory tracking. The simulation results show satisfactory performance of the 3D robotic dolphin with respect to flexible movement and trajectory tracking under the observed interference factors. |
| format | Article |
| id | doaj-art-abf5ee33f41f4f758274ac3b173bb78f |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-abf5ee33f41f4f758274ac3b173bb78f2025-02-03T01:04:12ZengWileyApplied Bionics and Biomechanics1754-21032021-01-01202110.1155/2021/4203914The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic DolphinZhibin Xue0Liangliang Li1Yixiao Song2College of Chemical EngineeringCollege of Mechanical EngineeringShandong Labor Vocational and Technical CollegeIn this study, the C-turning, pitching, and flapping propulsion of a robotic dolphin during locomotion were explored. Considering the swimming action required of a three-dimensional (3D) robotic dolphin in the ocean, we propose a maneuverability model that can be applied to the flapping motion to provide precise and stable movements and function as the driving role in locomotion. Additionally, an added tail joint allows for the turning movement with efficient parameters obtained by a fluid-structure coupling method. To obtain a mathematical model, several disturbance signals were considered, including systematic uncertainties of the parameters, the perpetually changing environment, the interference from obstacles with effective fuzzy rules, and a sliding mode of control. Furthermore, a combined strategy of environment recognition was used for the positional control of the robotic dolphin, incorporating sonar, path planning with an artificial potential field, and trajectory tracking. The simulation results show satisfactory performance of the 3D robotic dolphin with respect to flexible movement and trajectory tracking under the observed interference factors.http://dx.doi.org/10.1155/2021/4203914 |
| spellingShingle | Zhibin Xue Liangliang Li Yixiao Song The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin Applied Bionics and Biomechanics |
| title | The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin |
| title_full | The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin |
| title_fullStr | The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin |
| title_full_unstemmed | The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin |
| title_short | The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin |
| title_sort | research of maneuverability modeling and environmental monitoring based on a robotic dolphin |
| url | http://dx.doi.org/10.1155/2021/4203914 |
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