Locomotion of robotic fish using the univector field method in a 3-D space

Abstract

This paper proposes a univector field navigation method and a tracking controller for robotic fish locomotion in a three-dimensional space. Univector fields are designed to generate a path to the goal position avoiding obstacle collision. The tracking controller is to convert the direction vector into control signals to track the path obtained from the univector field method. Parameters which are needed for univector field generation and the tracking controller are optimized using Quantum-inspired Evolutionary Algorithm(QEA). The effectiveness of the proposed locomotion algorithm and controller is demonstrated by computer simulation. © 2013 Springer-Verlag.