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Biologically inspired behaviour design for autonomous robotic fish

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Abstract

Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.

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Authors and Affiliations

  1. Department of Computer Science, University of Essex, Colchester, CO4 3SQ, UK

    Jin-Dong Liu & Huosheng Hu

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  1. Jin-Dong Liu
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  2. Huosheng Hu
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Corresponding author

Correspondence to Jin-Dong Liu.

Additional information

This project is supported by London Aquarium.

Jin-Dong Liu received his B.Sc. degree in industrial automation from Shenyang Institute of Aeronautical Engineering, China in 1999, and the M.Sc degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences in 2002. He is currently pursuing his Ph.D. degree at the University of Essex in the U.K since 2003.

His current research interests include autonomous mobile robots, intelligent control and human Centred robotics. He has published a number of papers in these areas.

Mr. Liu is a student member of IEEE.

Huosheng Hu received his M.Sc. degree in industrial automation from the Central South University in China, and the Ph.D. degree in robotics from the University of Oxford in the United Kingdom. Currently, He is a professor in Department of Computer Science, University of Essex, leading the Human Centred Robotics Group.

He has published over 200 papers in journals, books and conferences, and received two best paper awards. His research interests include autonomous mobile robots, human-robot interaction, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control and networked robotics.

Prof. Hu is a Chartered Engineer, a senior member of IEEE, and a member of IET, AAAI, ACM, IASTED and IAS.

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Liu, JD., Hu, H. Biologically inspired behaviour design for autonomous robotic fish. Int J Automat Comput 3, 336–347 (2006). https://doi.org/10.1007/s11633-006-0336-x

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  • DOI: https://doi.org/10.1007/s11633-006-0336-x

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