Behavior-Based Motion Planning of Biomimetic Robot-Fish

Abstract

To the underperformed control effect of a kind of robot-fish, a behavior-based motion planning algorithm has been presented. In order to improve the effect of the behavior, designed five basic behaviors of the robot-fish and used an arbitrator for the behavior decision. Validating the method with a ball-pushing experiment on a biomimetic robot-fish experiment platform, the results show the effectiveness and capableness of this motion control method.