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102206

The Formation Control of Multiple Robotic Fish Based on Hybrid Algorithm

Hongfei Han,Wen Tan
School of Control & Computer, North China Electric Power University, Beijing, China 102206
Email: hanhongfei216@163.com

Abstract: To realize the formation control of multi-robot fish system, this paper presents a new control strategy based on a hybrid
algorithm. The algorithm adopts the formation parameter matrix to establish the relative relationship among robotic fishes and uses the
idea of transit points selected according to the characteristics of the robotic fish to transform the global-level formation control problem
into the problem of transit point of the follower tracking the transit point of the leader. Based on the derived error tracking system model,
the control law is used in design to maintain the formation. And the law also considers real-time local position feedback of the robotic
fish. Simulation and experiment results are given to demonstrate the feasibility and effectiveness of the approach.

Key words: Multi-robot Fish; Formation Control; Position Feedback; Error Tracking

[1-3]

[4,5]
leader-follower [6][7][8][9]

[10]
2
[11]

4 [12]

MATLAB [13]

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1.1
20 90 RoboCup
1 3
2-D 40cm 0.5 kg
/[14]

1/3
[15][16,17]

ybody ( x, i ) =
[(c1 x + c2 x 2 )][sin( kx + t )]

(1)

1 ybody x k ( k = 2 / ) c1
c2 = 2 f f
(1)

[(c1 x + c2 x 2 )][sin( kx
ybody ( x, i ) =

2
i )]
M

(2)

i M
2
[18]

1.2
3 3
CCD(Charge Coupled Device)CCD

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[19]

2
2.1
4

1 [20]

leader M

=
M

M s1 M s 2 M sn ]3n , s
[=

1, 2,3

M sj =
=
m1 j m2 j m3 j , j 1, 2, , n m1 j = lijd m2 j = ijd m3 j = i . M sj R j
3 m R j m
1j
2j

R1
Rj
R
m
i

3j

M s1 = [ 0 0 0]

2.2

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R j

x j = v j cos( j )

y j = v j sin( j )

j = j

(3)

x j y j R j j v j j
5 R R j R R j
i
i
R j
d Rvj

Rvi lij lijd ij ijd

R j R lijd ijd Rvj Rvi
i

Rvi Rvj

xi lijd cos(i ijd ) + d cos(i )

xvi =

yvi =yi lijd sin(i ijd ) + d sin(i )

=
i
vi

(4)

xvj= x j + d cos( j )

y j + d sin( j )
y=
vj
=
j
vj

(5)

xvi yvi Rvi xvj yvj Rvj vi Rvi vj Rvj

Rvi Rvj

ex = xvj xvi = ( x j + d cos( j )) ( xi lijd cos(i ijd ) + d cos(i ))

ey = yvj yvi = ( y j + d sin( j )) ( yi lijd sin(i ijd ) + d sin(i ))

=
j
i

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=
ex v j cos( j ) d j sin( j ) vi cos(i ) lijd i sin(i ijd ) + d i sin(i )

ey v j sin( j ) + d j cos( j ) vi sin(i ) + lijd i cos(i ijd ) d i cos(i )

=

j i
=

(7)

v j j

ex cos( j ) sin( j ) ex
=

ey sin( j ) cos( j ) ey
ex ex cos( j ) + ey sin( j )
=

ex sin( j ) + ey cos( j )
ey =

(8)

ex =v j vi cos(i j ) lijd i sin(i j ijd ) + di sin(i j ) + j ey

ey = d j vi sin(i j ) + lijd i cos(i j ijd ) di cos(i j ) j ex

j i
=

(9)

ex e y Rvi Rvj
R j u j = v j

j Rvi Rvj

vi cos(i j ) + lijd i sin(i j ijd ) d i sin(i j ) k1 ex

=
u j 1 (v sin( ) l cos( ) + d cos( ) k e )
i
j
ijd i
i
j
ijd
i
i
j
2 y
d i

(10)

k1 k2 vi i R
i

ex e y R j
R 68 ex e y
i

ex =lij cos(ij ) + d + lijd cos(i j ijd ) d cos(i j )

=
ey lij sin(ij ) + lijd sin(i j ijd ) d sin(i j )

(11)

1110

vi cos(i j ) + lijd i sin(i j ijd ) di sin(i j ) k1 (lij cos(ij ) +

d + lijd cos(i j ijd ) d cos(i j ))

uj = 1
(vi sin(i j ) lijd i cos(i j ijd ) + di cos(i j ) k2 (lij sin(ij ) +
d

lijd sin(i j ijd ) d sin(i j )))

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3
3.1
matlab

k1 =0.1 k2 =0.1 vi =0.3 i =0 d =1 lijd =3 ijd =30 Ri 10,10,90 R j

0,0,120 6
2.5

5
4

3
2
1.5

0
-1

/cm

/cm

0.5

-2
-3
0

-4
-0.5

20

40

60

80

100
t/s

120

140

160

180

200

-5

20

40

(a)x ex

60

80

100
t/s

120

140

160

180

200

(b)y e y

40

30

10

20

-10

-20

-30

20

40

60

80

100
t/s

120

140

160

180

200

(c)
6

3.2
4
M 3 00 cm 2 00 cm

M = 0
0

20
-

3
1

20

3
1

20

3
2

7
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(a)

(b)

(c)

(d)
7

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1987-

Emailhanhongfei216@163.com

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