Path Planning Of Bio-mimetic Robot Fish Based On Improved A Star Algorithm And B-Splines Function

The biomimetic robot fish,as a new field of research including both biology and robotics, has attracted more and more attention in recent years. Therefore, the problem of path planning is one of the significant topics of current research, which involves the technology of hydrodynam ics, the topology and the image processing, and so on. After introducing the biomimetic robot fish system of our laboratory, we focus on the turning control of it, the im proved A star t algorithm and the path planning using B-splines.First, the classification and the characte ristics of biom imetic robot fish are addressed. We give the research background and the latest research progresses in both domestic and foreign.Second, the hardware and software of the bi omimetic robot fish is introduced. In particular, we focus on the visual system of the platform , which includes the RGB color system and the HLS color system.Then, the vita l pa rameters, which de termine the charac ters of turning performance of robot fish, involving in the frequency and amplitude of the caudal fin, turning radius, velocity and speed, are introduced.Furthermore, a new A-star algorithm is proposed to reduce tim e complexity and space complexity of the old one. By introducing the concept of back-try, we solve the problem that the path planning may meet jam in the case of concavity obstacles.In addition, we present a strategy for generating a s mooth trajectory for m a n ordered sequence of waypoints under the static environment. This is realized by using B-Splines function.Finally, we summarize the thesis, and outlook the future work in this area.