Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

Table 3

Turning performance characterized by angular bias in different gaits at 2 Hz.

	Angular bias (°)	15	30	45
BCF	Turning radius (BL)	0.84±0.03	0.62±0.03	0.23±0.04
	Angular speed (rad/s)	0.65±0.04	0.87±0.02	1.58±0.07
BCF + PF	Turning radius (BL)	0.74±0.03	0.51±0.03	0.18±0.02
	Angular speed (rad/s)	0.87±0.04	0.97±0.04	1.78±0.05