The Formation Control Research Of Multiple Bio Mimetic Robotic Fish

In recent years, the technology of bio mimetic robotic fish increasingly sophisticated and the problem of formation control and coordination between groups for robotic fish were studied deeply by many scholars. In this paper, three-joint and imitation Carangidae robotic fish were studied as object. The research of robotic fish formation control was started by using the mothed of fuzzy control and artificial potential field.Firstly, the research purpose of multiple bio mimetic robotic fish formation control is introduced. The research status of underwater bio mimetic robots and their formation control are reviewed. The background and the structure of this thesis are also addressed.Secondly, the kinematic model of the three-joint bio mimetic robotic fishes are presented. At the same time, the mechanical configuration and experimental platform were introduced.Thirdly, the technology and method of robots formation control were summarized and its development trend was pointed.Fourthly, the study of application that fuzzy control was used to bio mimetic robotic fish was carried out. The study include fuzzy obstacle avoidance control, fuzzy position and orientation control and fuzzy formation control.Fifthly, in obstacle-free environment, robotic fish make formation movement under leader-follower framework. When the robotic fish fleet moves into obstacle area, multiple robot fishes system uses artificial potential field method to change the formation and avoid the obstacle. Simulation result show that bio mimetic robotic fish can avoid obstacle effectively and security tend to target point by applying the above method.Finally, the results are summarized and the future work is addressed.