Coordination Motion Planning In Multi-robotic Fish And Design Of Single Robotic Fish System

The ocean resources are a precious wealth that human society can realize continual development.At present, all countries take the reasonable development and utilizing the ocean as the basic national policy of the subsistence and development.The prospecting, development and utilizing the ocean resources have become the focus of the international concern .With the rapid development of the robotic and the necessary of ocean exploitation, autonomous underwater vehicles need to be improved quickly, which putting forward the development of the ocean robotic. Utilizing the principle of fish oscillating, more efficient underwater vehicles can be developed. On the other hand , roboticist pay more attention to the Motion Planning for multiple robots along with the increasingly complex of the task and the environment of task. This paper presents the swimming mechanism and the caudal fin locomotion of fish , and then describes the theory of the dynamic networks motion planning for the multiple robotic Fish. This paper mimics the fish oscillating propulsive with a three-link robotic fish model and explains the detailed process of the fish design. And then abtain the conclusion as follow:According to the robot kinematics , the equation of the multi-link robot fish caudal fin locomotion is deduced on the basis of the equation of the single-link robot fish caudal fin locomotion.And then introduces a new Three-dimension Dynamic Networks planning framework, which exploits the changing communication links between robots, as the robots move .combines the respective advantages of centralized and decentralizedplanning. This dynamic networks have the capable of forming dynamically whenever communication and sensing capabilities permit, sharing world models and robot goals within each network, and constructing dynamically coordinated trajectories for all robots in each network.At the basic of the above theory analysis , introduces the methods to resolving the problem which faced in the robotic fish design process of hardware and software. And this paper completes the designed of the robotic fish model (OuceFish-which is controlled by MCU.