Environment Perception Research Of The Artificial Lateral Line System Of Autonomous Robotic Fish

Aquatic life have more or less loss of visual function because of the light problem in the underwater environment. So the lateral line system which is as primary sensory organ of aquatic life provides water environmental information for aquatic life. Underwater robot is facing the difficult problem of losing visual function. According to bionics’ principles, this thesis focuses on the design of the artificial lateral line system of autonomous robotic fish and the research of the water environment perception. As a result,a new perceived structure is designed on the autonomous robotic fish. The main research results are as follows:First of all, it is found that the artificial lateral line system would be important for new autonomous robotic fish when we upgrade the new autonomous robotic fish and analysis perception system. According to distribution characteristics of the lateral line system of the box fish in nature, we design a new type of artificial lateral line system on the autonomous robotic fish. In order to meet the design requirements of the artificial lateral line system of robotic fish, we complete the realization of the artificial lateral line system and development, installation, commission of related hardware and software.Second, with the perceptive ability of the artificial lateral line system of the autonomous robotic fish, we have perception research of surrounding pressure change under different movement modes of the robotic fish. Changing the motion control parameters of CPG can realize different movement modes, including the forward movement, turn left movement, turn right movement and the rising and diving movement.The robotic fish can judge the current movement modes by the surrounding water environment pressure of different movement modes.Finally, this paper expounds the estimate mode of pressure differences across the fish head. We have the water environment perception experiment of the forward movement of the autonomous robotic fish with the artificial lateral line system and inertial navigation module(IMU). We verify the rationality the estimates of pressure differences across the fish head by the simulation of experimental data of the artificial lateral line system and IMU, and put forward the possibility of testing robotic swimming speed by basing on the artificial lateral line system. Compared with other speed measuring ways of robotic fish, it is new thinking...