Path Planning Of The Biomimetic Robotic Fish Based On The Grid Method

The biomimetic robotic fish is one of the underwater robots, which combines propulsion mechanism of the fish in the nature and the technology in the field of mechanics and electronics. The path planning of the robotic fish is the basis of its control and coordinate, which has important application value in many areas such as submarine detection. After introducing the robotic fish system of our lab, we focus the attention on the study of global visual subsystem. This is the foundation for the path planning of the robotic fish. The grid method is used to establish the environment model of the robotic fish's movement environment. The Astar algorithm and the genetic algorithm are utilized to do some experiments on the robotic fish platform at length.Firstly, the concept, the classification and the characteristics of the robotic fish are presented. The development of the robotic fish is summarized. Some issues about the path planning are also discussed.Secondly, the key technologies of the global visual subsystem of the biomimetic robotic fish system are studied, and the environment identification method based on HLS color system is proposed. Once the threshold values of different colors are set, the locations of the biomimetic robotic fish and the obstacles can be obtained.Thirdly, the grid-based method is used to model the movement environment of the robotic fish after the environment is identified. The possible movement direction of the fish is discussed on the biomimetic robotic fish experimental platform.Fourthly, the Astar algorithm and genetic algorithm are adopted for the path planning of biomimetic robotic fish, respectively. Based on the full understanding of these two algorithms, the implementation process of the algorithm is presented. Then Matlab and C++ are used to simulate these algorithms. Moreover, the path planning process is programmed and debugged based on the Astar algorithm and the genetic algorithm on the biomimetic robotic fish experimental platform, and the corresponding experimental results are obtained.Finally, the results of the thesis are summarized, and the further researches and the possible works are pointed out.