Path Planning Of Biomimetic Robotic Fish

As Robo-fish individual movements performance continuous development and relative improvement, research focus on bionic robotic fish have been transferred motion control and application from the robot fish's machine body structure. In this paper, A class of miniature Carangidae robotic fish is taked as a research object developed by Peking University Institute of Technology independently, according to the robot fish body structure, movement characteristics and constraints of realization, some different control solutions are used to the movement and path planning problem in laboratory conditions. Algorithm based on fuzzy control of robot fish steering control, mixed obstacle avoidance algorithm based on fuzzy artificial potential , and robotic fish motion planning behavior-based have been presented, and all the algorithm are integrated in the micro bionic robot fish experimental platform.First, this article summarizes current research state about bionic robotic fish and its path planning at home and abroad, then the significance of this article and key research topics are illustrated, and the hardware parameters and motion characteristics of the body of the Robo-fish and micro biomimetic robotic fish experimental platform were introduced.Secondly, to the turning ineffective problem caused by the machine structural constraints that the Robo-fish can only output seven fixed turning degree, a turning control algorithm based on fuzzy logic has been presented. According to the Robo-fish body's turning characteristics and laboratory experience, establish fuzzy control rules, construct control response table. In this basis, I present a mixed obstacle avoidance algorithm based on artificial potential fields and fuzzy logic. A rough path is drew with artificial potential field laws, and then the machine turning is controlled by the fuzzy logic method when the fish moving, and realizes autonomous obstacle avoidance and the robot fish takes a more smooth trajectory. Meanwhile, to the robot fish water polo task, I designs five basic robotic fish behaviors, and construct arbitration function, then use the arbitration mechanism to control the Robo-fish's behavior decision-making in order to improve the behavior accuracy of the fish, and effectiveness of this method has been validated through experiments.Finally, the obtained research results are summarized and future work is pointed out .