Research And Design On Coordination And Control Of Multiple Bio-mimetic Robot Fishes

The ocean resources are a precious wealth that human society realize continual development.With the requirement of the task under a complex underwater environment,oceanic investigation and military mission in 21 centuries,multiple robots begin finish task cooperatively,the research on coordination and control of multiple bio-mimetic robot fishes has been one of international hot problems at present.The research on coordination and control of multiple bio-mimetic robot fishes is a project which includes the mimetic fish propulsive technique,the intelligent control method and multiple intelligent theory.At present, bio-mimetic robot fish can not provide valuable applications, related theories and key technology have been discussed, due to the complex and dynamic underwater environment and the flexibility of the fish immaturity, In this paper, based on bio-mimetic robot fish developed by Institute of Automation, Chinese Academy of Sciences, started with the robot fish's motion control, built a multiple bio-mimetic robot fishes visual system by utilizing the technology of realtime visual information processing, information of the fishes' position and orientation is obtained. we employ a situated-behavior design method and realize box pushing performed by two robotic fish.Firstly, the conception and significance of multiple robot fishes' coordination are introduced. The research development of both bio-mimetic robot fish and multiple bio-mimetic robot fish's control at home and abroad are reviewed. The structure of this thesis is also addressed.Secondly, we study four jonts bio-mimetic robot fish developed by Institute of Automation, Chinese Academy of Sciences and study control algorithm of a point-to-point . Direction control of robot fish is realized.Thirdly,we study theories about multiple bio-mimetic robot fishes' system.According to color-look-up-table, color image segmentation based on the method of the motion grid scanning and the dynamic window is realized.Fourthly, we research wavelet transform and complete the denoising task by determing the position and feature of noise by the value of maximum module point at different scale. Fifthly, the algorithm of multiple robots'path planning is researched, based on situated-behavior design method,we research a coordination method for multiple biomimetic robotic fish in box-pushing task.