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Experimental implementation of distributed flocking algorithm for multiple robotic fish
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DOI：10.1016/j.conengprac.2014.05.004.png)
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This paper presents the experimental implementation of a flocking algorithm for multiple robotic fish governed by extended second-order unicycles. Combing consensus protocols with attraction/repulsion functions, a flocking algorithm is proposed to make the agents asymptotically converge to swim with consistent velocities and approach the equilibrium distances to their neighbors. The LaSalle-Krasovskii invariance principle is applied to verify the stability of the system. Besides numerical simulations, platform simulations involving robotic fish kinematic constraint and control mechanism are shown. An experiment with three robotic fish is implemented to illustrate the effectiveness of the proposed flocking algorithm in the presence of external disturbance and boundary collision. (C) 2014 Elsevier Ltd. All rights reserved.
Keyword:
Flocking
Robotic fish
Distributed control
Non-holonomic constraints
Intrinsic uncertainties and external disturbances
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