Robotic Fish’s Movement Based on Kalman Filter and PID Control

Si Yuan Su; Yu Lian Jiang; Ou Yang Shi

doi:10.4028/www.scientific.net/AMM.568-570.1059

Paper Titles

The Study on the System Dynamics Characteristics of Automatic Variable Transmission
p.1041

Multiple Microprocessor Neural Network Master-Slave Control System in the Application of the Coaxial Control System
p.1045

Angle Measurement of Robotic Fish Based on Kalman Filter
p.1049

Multi-Robot Fish Path Planning Based on the Modified A* Algorithm
p.1054

Robotic Fish’s Movement Based on Kalman Filter and PID Control
p.1059

Study of the Optimal Design for the Gliding Trajectory
p.1063

Study on Control Algorithm in Servo System of Servo Aimable Warhead
p.1068

Coordinate Transformation of the Quadrotor Unmanned Aerial Vehicles’s Flight Path
p.1073

The Visual Path Following of Autonomous Catamaran in Oil Spilling
p.1078

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 568-570Robotic Fish’s Movement Based on Kalman Filter and...

Robotic Fish’s Movement Based on Kalman Filter and PID Control

Abstract:

Environmental disturbances lead to the reaction lag and precision drop of robotic fish in Chinese under-water robotic fish game. To resolve the problem, this paper proposes a new method combined Kalman filter and PID control algorithm for controlling robotic fish. The proposed approach was applied into the synchronized swimming competition of robotic fish. Simulation on two dimensional underwater robot game simulation platform shows that the method enhances the accuracy of the movement, shortens the time to the target, and improves the anti-interference ability of robotic fish. It is effective and reliable.