Research Of The Control Mehtods Based On The Embedded Biomimetic Robotic Fish

This article is completed with the support of the national natural science fund\"based on the forwardcontrol surface biomimetic robotic fish more institutional design and integration control (60865004)\".Selecting carangidae fish as the main research object, the paper researches on the biomimetic robotic fishstructure design, attitude control, path planning, vision algorithm, tracking the target control algorithm, etc.The bionic machine fish motoring, avoiding obstacles and tracking the target securely in the water can berealized for the mang fin machine fish controlling algorithm reasearch.The main contents and researchresults of this paper are as follows:1.Based on the bionic research of two-dimensional steady-state carangidae fish swimming, the paperdesigns the main body of the finny robotic fish from mechanical structure and control structure. Mechanicalstructure: by reference to the nature of fish body characteristics, the shell, pectoral fins, dorsal fins, pelvicfins and caudal fin structures is designed for biomimetic robotic fish, and through the mechanicalprocessing technology to connect each part as a unified whole. Control structure: based on the purpose ofthe biomimetic robotic fish, the wireless communication module, camera module, sensor module, powermodule, peripheral interface module, motor control module, other hardware resources and its circuit isdesigned. For the purpose of real-time monitoring robotic fish, we has designed software monitoringplatform to receive all kinds of information coming from the underwater robotic fish.2.Through the detailed introduction of the embedded system as well as the fish which need tocomplete the task of underwater, The article defines the various motions for biomimetic robotic fish,including straight (STRAIGHT), backward (RETROACT), hovering (STATIC), slow (SLOW DOWN),acceleration (QUICKEN), turn left (LEFT TURN), turn right (TURN RIGHT), diving (DESCEND), rise(RISE), translation (HORIZON)10kinds of basic movement, and describes the method of all kinds ofmotion control. Finally the effectiveness of the proposed control method is verified by experiment.3.Based on the motion state of the biomimetic robotic fish, a variety of sensors have been installed inbiomimetic robotic fish head, and position of which is designed in the paper. Finally through multi-sensorfusion technology and production rule, the biomimetic robotic fish swimming pach is designedconcretely,including swimming rules underwater, rules of collision dangerous degree, and willingnessrules of rising or diving.4.The dangerous distance between fish tail and obstacles can be calculated, Through tail kinematicsanalysis to the biomimetic robotic fish. So that, safety area of tail can be set up based on the mathematicalrelationship between the tail and obstacles after avoiding obstacles underwater,thus,collision problembetween the robotic fish tail and obstacles can be solved. Finally the effectiveness of the proposed methodis verified by experiment，and there is no collision between the tail of biomimetic robotic fish andobstacles, after avoiding obstacles.5.Based on embedded system, the paper designs visual tracking algorithm for panel design by ARM9,and respectively edits image conversion technology, image segmentation algorithm (setting thresholdmethod), image calibration algorithm and visual tracking algorithm, key code (see the appendix). Finallythe effectiveness of the visual tracking algorithm is verified by experiment.Through the research work of this article, in the hope that in the aspect of robotic fish motion controlalgorithm can be more perfect, provide better reference for later research work.