Autonomous Movement Optimization Of Robotic Fish Based On PSO Algorithm

Underwater ROBOFISH its superior propulsion efficiency, goodmaneuverability characteristics and easy to hidden have a very broad applicationprospects in civilian and military fields, in recent years has been attentioned the worldscientists, research institutes, the military 's. Traditional ROBOFISH mainly usecarangiform and tuna division as bionic objects, rarely use the box fish as biomimeticrobotic fish prototype object. In this paper, box fish for the study, completed thefollowing three aspects:First describes the situation in parts of the hardware and software for the bionicbox fish object ROBOFISH. The machine control system based on a piece of ARM11microprocessor board, and run an embedded Linux system. PCB and multi-blockfunctional control board is connected via IIC communication protocol, PCBresponsible for the collection of these sensor data, servo drive and control,undervoltage detection. Box fish machines equipped with a camera, infrared sensors,pressure sensors, inertial navigation, temperature and humidity sensors.Second, through experimental verification, the paper design box fish machinesable to perceive the environment and flexible move through underwater environmentby use three-dimensional.Third, for the question that is difficult to choice motion control parameters ofROBOFISH, the paper also proposes a voluntary movement optimization algorithm,making robotic fish can be carried out in the absence of intervention of its ownmotion optimization and find the optimal motion control parameters, thus greatlyimproving the intelligence of robotic fish and reduce the debugging difficulty of theresearchers. Algorithm used on the box-fish validated and get a good result.