Path Planning In Robotic Fish Water Polo Game

In recent years, a variety of robot competitions greatly promote the development of robot technology. In order to improve the level of domestic robot competition, the Robotic Competition Committee as the first time set Robotic Fish Water Polo Game as the official event of China Robot Competition and RoboCup Open 2007 and succeeded. Robotic Fish Water Polo Game is similar to the Terrestrial Robot Soccer game, whose players are biomimetic robotic fish. This paper mainly focuses on the path planning in the Robotic Fish Water Polo Game. We use a variety of control algorithms to solve the path planning and movement of robotic fish, and propose algorithm of point-to-point fuzzy control path planning and behavior-based motion planning under the robotic fish movement characteristics, structure and restraints, which successfully used in competitions and achieved good results.First, this paper summarizes current research state about Robotic Fish Water Polo Game and path planning in it, and then the key research topics and significance of this paper are presented, the motion characteristics and hardware parameters of the Robotic fish and Water Polo Game platform were introduced in detail.Second, for the robotic fish was in an uncertain non-linear dynamic varied environment, it was not very good to control the Biomimetic Robotic fish point-to-point with the varied of the external environment. Combined with the characteristics of Biomimetic Robot-fish swimming, we designed a point-to-point fuzzy controller, and elaborated the process of design and implementation of algorithm. At last, it was verified that, it is feasible and operative to improve the course and effect on controlling of the point-to-point fuzzy controller, by comparing the two experiments on Biomimetic Robot-fish experiment platform.Second, for the robotic fish was in an uncertain non-linear dynamic varied environment, it was not very good to control the Biomimetic Robotic fish point-to-point with the varied of the external environment. Combined with the characteristics of Biomimetic Robot-fish swimming, we designed a point-to-point fuzzy controller, and elaborated the process of design and implementation of algorithm. At last, it was verified that, it is feasible and operative to improve the course and effect on controlling of the point-to-point fuzzy controller, by comparing the two experiments on Biomimetic Robot-fish experiment platform.Finally, the obtained results are summarized and the future work is pointed out.