Skip to content
DraconiticResearch
Search Sources API
197,768 studies31 sourcesUpdated 16 min ago
Peer-reviewedCC BYJournal of Marine Science and Engineering

Path-Following Control via Dorsal Fin of a Biomimetic Underwater Robot and Fuzzy Theory-Based Path Generation

  • Min-Kyu Kim1
  • Dong-Geon Kim1
  • Yong-Seon Moon2
  • Jihoon Kim1
  • In Sung Jang3
  • Heungchan Kim1
  • Chang Hyeon Seo1
  • Sejin Jung1
  • Seong Min Moon1
  1. 1Maritime Robotics Test & Evaluation Center, Korea Institute of Ocean Science & Technology, Busan 49111, Republic of Korea
  2. 2Redone Technologies Co., Ltd., Jangseong 57247, Republic of Korea
  3. 3Marine Industry Research Division, Korea Institute of Ocean Science & Technology, Busan 49111, Republic of Korea
Read full textDOICite

Abstract

This paper proposes a velocity-type fuzzy proportional–integral–derivative (PID) control system with integral line-of-sight (ILOS) guidance to precisely follow the path of a biomimetic underwater robot equipped with a caudal fin propulsion mechanism, as well as a fuzzy logic algorithm for efficient path generation. This study involves two distinct key parts. First, a precise path-following control system that incorporates the dorsal fin motion characteristics is proposed. The proposed velocity-type fuzzy PID controller is designed to achieve superior transient response and tracking precision compared to conventional PD controllers. In addition, an ILOS guidance algorithm is integrated to provide compensation for cross-track errors caused by ocean currents and external disturbances. Second, a fuzzy theory–based underwater path generation algorithm is proposed. Through a comparative analysis with the conventional A* and deep Q-network algorithms, the superiority of the proposed method is demonstrated in terms of computational efficiency, path smoothness, and obstacle-handling capability. The findings of this study demonstrate that precise path-following for a dorsal fin–based biomimetic robot is achievable even in environments prone to disturbances, while validating the performance of fuzzy theory–based path generation.

Related

  1. DEMONet: Underwater acoustic target recognition based on multi-expert network and cross-temporal variational autoencoder
    Yuan Xie, Xiaowei Zhang, Jiawei Ren +1
    Knowledge-Based SystemsPeer-reviewedLicence not statedFull text10 citedOceanography & cryosphereOpenAlex
  2. Seatizen Atlas: a collaborative dataset of underwater and aerial marine imagery
    Matteo Contini, Victor Illien, Mohan Julien +15
    Scientific DataPeer-reviewedCC BY-NC-ND 4.0Full text12 citedEcologyClimate scienceHAL
  3. Benthic contributions to the chemical seascape: Insights from Mediterranean underwater caves
    Marie Derrien, Pierre Chevaldonné, Charlotte Simmler +1
    Limnology and OceanographyPeer-reviewedCC BY 4.0Full textEcologyEnvironmental science & pollutionHAL
  4. Environmental Impact of Conventional Versus Underwater Endoscopic Mucosal Resection for Colorectal Lesions: A Procedure-Based Life Cycle Assessment With Pooled Effectiveness Estimates.
    Giulio Calabrese, Frederic Moll, João A Cunha Neves +7
    DEN openPeer-reviewedCC BYFull textEnvironmental science & pollutionEurope PMCPMC
  5. Mechanistic DFT Insights into Biomimetic Mn-Porphyrin Catalysts for Peroxymonosulfate-Driven Degradation of Carbamazepine in Water
    Mohammad Oves, Muhammad B. Alim, Sivaraman Chandrasekaran +2
    CatalystsPeer-reviewedCC BY 4.0Hydrology & soilsCrossref

Cite

BibTeXRIS
BibTeX
@article{kim2026pathfollowing,
  title = {{Path-Following Control via Dorsal Fin of a Biomimetic Underwater Robot and Fuzzy Theory-Based Path Generation}},
  author = {Min-Kyu Kim and Dong-Geon Kim and Yong-Seon Moon and Jihoon Kim and In Sung Jang and Heungchan Kim and Chang Hyeon Seo and Sejin Jung and Seong Min Moon},
  journal = {Journal of Marine Science and Engineering},
  year = {2026},
  month = oct,
  doi = {10.3390/jmse14201960},
  url = {https://doi.org/10.3390/jmse14201960},
  note = {CC BY},
}
RIS
TY  - JOUR
TI  - Path-Following Control via Dorsal Fin of a Biomimetic Underwater Robot and Fuzzy Theory-Based Path Generation
AU  - Min-Kyu Kim
AU  - Dong-Geon Kim
AU  - Yong-Seon Moon
AU  - Jihoon Kim
AU  - In Sung Jang
AU  - Heungchan Kim
AU  - Chang Hyeon Seo
AU  - Sejin Jung
AU  - Seong Min Moon
PY  - 2026
DA  - 2026/10/26
JO  - Journal of Marine Science and Engineering
DO  - 10.3390/jmse14201960
UR  - https://doi.org/10.3390/jmse14201960
AB  - This paper proposes a velocity-type fuzzy proportional–integral–derivative (PID) control system with integral line-of-sight (ILOS) guidance to precisely follow the path of a biomimetic underwater robot equipped with a caudal fin propulsion mechanism, as well as a fuzzy logic algorithm for efficient path generation. This study involves two distinct key parts. First, a precise path-following control system that incorporates the dorsal fin motion characteristics is proposed. The proposed velocity-type fuzzy PID controller is designed to achieve superior transient response and tracking precision compared to conventional PD controllers. In addition, an ILOS guidance algorithm is integrated to provide compensation for cross-track errors caused by ocean currents and external disturbances. Second, a fuzzy theory–based underwater path generation algorithm is proposed. Through a comparative analysis with the conventional A* and deep Q-network algorithms, the superiority of the proposed method is demonstrated in terms of computational efficiency, path smoothness, and obstacle-handling capability. The findings of this study demonstrate that precise path-following for a dorsal fin–based biomimetic robot is achievable even in environments prone to disturbances, while validating the performance of fuzzy theory–based path generation.
SN  - 2077-1312
ER  -