Multimodal Swimming And Learning Control For Bionic Robotic Fish

Bionic robotic fish has great potential application prospects.Its multi-modal swimming and learning ability are the key issues for adapting to environments.This paper presents how to realize control method of bionic robotic fish.It aimed at autonomous swimming of bionic robotic fish in unknown environments.The research work includes multi-modal swimming of bionic robotic fish based on CPG,path planning and iterative learning control trajectory tracking and corresponding simulations and experiments.The contents of the paper are as follows:Firstly,the paper presented the background of multi-modal swimming and learning control of biomimetic robotic fish.It reviewed biomimetic robotic fish research works at home and abroad.Each chapter of the paper is also briefly introduced.Secondly,typical CPG models for bionic robotic fish are analyzed in detail.Based on this,a CPG model based on Hopf oscillators has been constructed where phase coupling factor is introduced to realize free switching between multi-modal swimming.The dynamic model of bionic robotic fish has been established based on the Newton-Euler method.The detail analysis of the dynamic model was carried out.The paper provided simulations and experiments.The simulation and experimental results verified the validity of the model.Thirdly,to realize autonomous swimming of the biomimetic robotic fish,a path planning method based on ant colony algorithm had been employed.The swimming environment model for robotic fish was established with grid method.The starting point,obstacles and target point were deployed.According to the optimization principle of ant colony algorithm,the parameters had been determined.The simulation results verify the feasibility of the path planning method.Finally,trajectory tracking is very important for robotic fish to perform tasks.In order to make the bionic robotic fish swim along with a predetermined trajectory,a trajectory tracking method using iterative learning had been proposed for robotic fish.For a three-joint bionic robotic fish,the iterative learning controller for trajectory tracking had been designed.The convergence of the iterative learning control algorithm was further analyzed.The simulation and experimental results show that the method has excellent tracking effect on fish body wave.