Study Of Perception Based On Artificial Lateral Line Of Robotic Fish

Lateral line system is an important sensory organs of fish,through the lateral line system fish can accurately perceive the pressure and velocity of water environment,so as to identify the environment around the map building,to achieve interactive learning,prey,avoid enemy and other group behavior.Although the important of lateral line system to fish,but at present,the underwater vehicle is not carrying the the lateral line system and similar fish--artificial lateral line system.So it is important to study the artificial lateral line system.In this paper,an autonomous bionic box fish as a platform,integrated artificial lateral line system to this box-fish,use it to sense the surrounding water environment.Thus,the relative position and movement state of the fish and the other robot fish are identified,it provides a new way for the mutual perception of underwater robot groups.The main research contents of this paper are as follows:First of all,the introduction of autonomous robotic platform.At present most of the underwater vehicle are using propeller propulsion,in this paper,the autonomous robotic fish mimic the way of fish swing,it's more efficient and flexible.Load the artificial lateral line system in autonomous robotic fish platform,debugging the hardware and software system of artificial lateral line in box-fish,and lay a solid foundation for the artificial lateral line experiment.Laid the foundation for the artificial lateral line experiment.Secondly,a series of experiments are carried out using the experimental device designed in this paper.The artificial lateral line will be interference of water environment,resulting in complex and changeable environment in the perception of the water.So we designed six axis experiment device.The robotic fish is fixed on the six axis and use the six axis to drive box-fish movement,so that the variable simplification is convenient for data collection and analysis.Finally,using the experimental device which designed in this paper study on the relative position perception of two robotic fish.A lot of experiments were carried out,and the experimental data were analyzed by MATLAB.Experimental results show that by when the adjacent two robotic fish in different relative position and attitude,aware of the artificial lateral line information with certain regularity,the regularity for subsequent can be used to control the robotic fish group movement.This paper shows that the artificial lateral line provides a new way of perception for adjacent Robot Fish pose of robotic fish group.