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Source Seeking for Two Nonholonomic Models of Fish Locomotion

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5 Author(s)
Jennie Cochran ; Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA, USA ; Eva Kanso ; Scott D. Kelly ; Hailong Xiong
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In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. We have developed control laws employing ldquoextremum seekingrdquo for two different ldquofishrdquo models. The first model consists of three rigid body links and relies on a 2-degree-of-freedom (DOF) movement that propels the fish without relying on vortices. The second fish model uses a Joukowski airfoil that has only 1 DOF in its movement and, thus, relies on vortex shedding for propulsion. We achieve model-free and position-free ldquosource seeking,rdquo and, if position is available, navigation along a predetermined path.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 5 )