Abstract
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.
Highlights
Due to considerable scientific advancement in recent years, underwater robots have transformed from abstract models to more advanced prototypes, and they have been widely used in a variety of fields, including agricultural fishing, groundwater resource detection, military affairs, and environmental protection
Due to the continuous efforts of scholars, underwater robots have transformed from abstract models to prototype ones, and they have been widely used in various fields, such as fishing grounds, groundwater resources detection, military affairs, and environmental protection
Nguyen et al [4] explained the dynamic modeling of the caudal fin model, and Liu and Hu [5] used a new method of oscillating wave approximation to study the advancement of robotic fish
Summary
Due to considerable scientific advancement in recent years, underwater robots have transformed from abstract models to more advanced prototypes, and they have been widely used in a variety of fields, including agricultural fishing, groundwater resource detection, military affairs, and environmental protection. Scaradozzi et al [2] used a fluid mechanics method to analyze the characteristics of BCF (body and/or caudal fin) swimming. This idea has attracted a large number of scholars worldwide, e.g., the research on tuna by Chen et al [3]. Zhou et al [31] studied the near-body pressure distribution of robotic fish using a wing model and F-S coupling method. Dynamic simulations and the F-S coupling method were used to optimize the joint motion parameters to obtain efficient propulsion performance. Based on the optimization results, a simulated verification of the propulsion performance was conducted based on the machine dolphin
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