Analysis In Motion Behavior And Research On Path Planning Of Bio-mimetic Robotic Fish

In the 21 st century, the ocean will be developed and utilized. The ocean is a vast treasure trove of resources, and it is the most development potential of the strategic space. Due to the uncertainty of the underwater environment, the bionic robot fish which can detect the underwater environment and complete the task has been widely valued by scientists. Bionic robot fish can replace human to complete dangerous work,such as Biological observation, military reconnaissance, seabed geological survey etc. However, these tasks are inseparable from the robot fish planning and control. This paper studied the path planning method of robot fish, and designed the 3D simulation system of bionic robot fish.In this paper, combined with the project of National Natural Science Foundation of China(No. 61165016) and the High-level talents training project of Qinghai University(No. 2012-QGC-10), carried out the paper work of " Analysis in motion behavior and research on path planning of bio-mimetic robotic fish". Mainly explores and studies about the following contents:1. The paper took carangidae fishes as research objects. Through the study of the Carangidae fish swimming mechanism mode, designed a four-dof fin propulsion system, established a mathematical model for four-joint fin propulsion mode, and better analyzed relevant motion behaviors through MATLAB respectively.2. Based on motion characteristics of such robot fish, this paper also designed a corresponding 3D simulation system for future obstacle avoidance researches. In order to facilitate the user to control and observe the robot fish to avoid obstacle, window frame were established, and various functions like operation, display and multi-view were designed.3. The display of terrain, obstacles and robotic fish were realized. Based on the characteristics of infrared sensor, virtual ray method was used to realize the simulation of virtual sensor. And according to different types of obstacles, two kinds of obstacle detection methods were summarized.4. Under certain obstacle environment, for ensuring robot fish can securely reach given position without collision, early path planning is essential. In the paper, implementation process of algorithm was described in detail, and one compound fuzzy controller was created for deciding fish various motions. This controller is constituted of two rotors and one rate fuzzy controller. In the 3D obstacle avoidance simulation system, simulation verification of fuzzy algorithm is made. Simulation results show that the algorithm can guide robot fish to seek one feasible path for safely access to target location from start point.