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The International Journal of Robotics Research
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Motion Planning and Control of a Swimming Machine

Saroj Saimek

Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USA; Department of Mechanical Engineering, King Mongkut’s University Of Technology, Thonburi, Bangkok, Thailandsaroj{at}fibo.kmutt.ac.th

Perry Y. Li

Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USApli{at}me.umn.edu

We propose a practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the underactuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion planning and the on-line step of feedback tracking. Optimal control techniques are used to compute a repertoire of time-scalable and concatenable motion primitives. The complete motion plan is obtained by concatenating time-scaled copies of the primitives. The computed optimal motion plans are regulated by a controller that consists of a cascade of linear quadratic regulator, input–output feedback linearization and sliding mode control. Time-varying linear quadratic controllers can also be time-scaled and concatenated. Therefore, they can be computed beforehand. The proposed strategy has been experimentally validated for both constrained longitudinal only maneuvers and unconstrained longitudinal/lateral maneuvers.

Key Words: aquatic vehicles • oscillating foil • swimming machine • optimal control • time-scaling • hydrodynamics • motion planning • motion primitives • linear quadratic control

The International Journal of Robotics Research, Vol. 23, No. 1, 27-53 (2004)
DOI: 10.1177/0278364904038366
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