Research And Development Of Cooperative Control System For Multiple Biomimetic Robotic Fish

Since the 1970s,with the rapid development of microelectronics and computer technology,the robotics industry grew rapidly,the research of robot has entered a new development phase.In recent years,the multi-robot cooperation system has gradually become a hot topic in the field of robot and intelligent control research.Humanity in the 21st century is facing the three big problems of population,environment and resource,therefore,the exploration and exploitation of the marine resources is the first choice,and the cooperation of the underwater robot will become a new intelligent development direction of robot technology.Biomimetic robotic fish is the device of reference to the propulsion mechanism of fish,and using mechanical,electronic components,intelligent materials to realize a movement of underwater propulsion.The research of Biomimetic robotic fish not only has very high theoretical research value,but also a broad application prospect in many aspects.However,the ability of a single robotic fish is limited,and the robotic fish will work in complex underwater environment in the future,so the cooperation control system for multiple biomimetic robotic fish will be an important research direction.All these factors were taken into account in the subject of cooperation control system research and development based on the requirements of water polo game.Based on the background of multi-robot system,the structure and movement principle about the biomimetic robotic fish and the software and hardware structure about collaborative control platform are mainly elaborated.The platform with a friendly interface and strong scalability has many functions such as image processing,online display,record playback,environment settings and so on.On the basis of such a platform,various algorithms and strategies can be tested and verified.As a novel system for multiple robotic fish cooperation,this platform can be applied to different types of complex tasks.In addition,considering the characteristics of the robotic fish and the environment,a situation based on actions selection approach is adopted to achieve the mission of disk-pushing by multiple robotic fishes.Finally,we propose a novel problem for cooperation of underwater robots--Robofish Water Polo game,two teams of robotic fish compete by pushing a polo.Since underwater environment is more complex than ground environment,water polo competition is expected to be more challenging than robot soccer and can be utilized as a standard platform to test and verify cooperation algorithms for underwater robots.