Robotic fish motion planning under inherent kinematic constraints

This paper presents a real-time motion planning method for biomimetic robotic fish with kinematic constraints. Based on successfully developing a robotic fish prototype, we step further to study navigation problem of the robotic fish in dynamic water environments. Considering the inherent kinematic constraints of the robotic fish, a new control law is proposed to stabilize the robotic fish on a specified position. On dealing with the collision avoidance problem among multiple robotic fish, limit-cycle approach is employed with which the robotic fish can avoid one another smoothly and efficiently. The effectiveness of the proposed method is verified through experiments conducted with two robotic fish