On 3D Simulation And Cooperation Strategy Of Bio-mimetic Robotic Fish

With the exploitation and exploration of the underwater environment, the bio-mimetic robotic fish is playing a more and more important role in tasks such as marine resource exploitation, underwater salvage, military blasting and reconnaissance. As 3D simulation of bio-mimetic robotic fish can decrease the developing difficulty and save the developing cost, the research has important significance. Due to the complexity of mechanical structure of robotic fish and the underwater working environment, the research of 3D simulation based on the bio-mimetic robotic fish remains a challenging topic. Coordinated control of multiple bio-mimetic robotic fish is also becoming a research hotspot because of advantage of swarm intelligence.Based on mechanical model of bio-mimetic robotic fish and theoretical system of hydrodynamics, this paper mainly discussed the 3D simulation methods and cooperation strategy of bio-mimetic robotic fish:Firstly, the research of the background of 3D simulation and cooperation strategy based on the bio-mimetic robotic fish is introduced. In addition, the relative research work and the main contribution of the paper are then introduced briefly.Secondly, a method of 3D static modeling of mechanical model designed by SolidWorks in OpenGL is studied. Then 3D dynamic modeling of robotic fish is achieved based on the search algorithm of central shaft in the output shaft of stepping motor. The physical model of water is built on the basis of 2D Navier-Stokes equation. Recurrence formula of water surface height is improved to smooth the water ripple.Thirdly, combined with experimental results, a method of 3D locomotion of robotic fish model in virtual pool is given based on Newton-Euler equations of rigid body motion. Considering mutual influence between bio-mimetic robotic fish and water, the water ripple agitated by robotic fish and toss motion of sphere in the water ripple are simulated.Finally, based on the role assigning and action synthesizing, a match strategy for robot fish water polo is presented on considering the high antagonism in robotic fish water polo. Robustness and portability are enhanced through the result.