@inproceedings{8365a5fdc10e453d89c6d880f8cbfefe,
title = "UWB Positioning Technology in Advancing Robotic Fish Navigation",
abstract = "This study integrates ultra-wideband (UWB) positioning technology with bionic robotic fish to enhance its navigation. First, we address the multi-path interference of UWB and robot oscillation interference using statistical methods and sliding window technology for outlier elimination, coupled with a low-pass FIR filter to mitigate high-frequency noise. Second, a trajectory tracking strategy, fusing UWB positioning and inertial measurement unit (IMU) pose signals, employs PID control for trajectory tracking. Kinematic modeling-based simulations substantiate this strategy. Critically, experiments not only validate the tracking effectiveness but also compare how signal processing elevates control stability, highlighting the potential of UWB technology in robotic fish navigation.",
keywords = "Robotic fish, Trajectory tracking, UWB positioning",
author = "Jiarong Han and Rui Huang and Yingyu Yao and Zhongjing Ma and Bo Yin and Suli Zou and Yu Liu",
note = "Publisher Copyright: {\textcopyright} 2024 Technical Committee on Control Theory, Chinese Association of Automation.; 43rd Chinese Control Conference, CCC 2024 ; Conference date: 28-07-2024 Through 31-07-2024",
year = "2024",
doi = "10.23919/CCC63176.2024.10661765",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4711--4716",
editor = "Jing Na and Jian Sun",
booktitle = "Proceedings of the 43rd Chinese Control Conference, CCC 2024",
address = "United States",
}