Research On The Design And Path Planning Of Mult I-Joint Biomimetic Robotic Fish

Ocean is the treasure of human materials and plays a role of regulator in human environmental ecology.The exploration and development of marine resources have been deepened.The corresponding underwater propulsion system has been created according to the motion law and driving principle of fish.Then,the robot can be used to detect the ocean,so that the robot can better serve human beings and contribute to marine protection.The force of the robotic fish in the straight running process under the BCF propulsion mode is analyzed,and the dynamic model of the robotic fish's straight running is established.Because the robotic fish will have turning motion,and in the task of path planning,it also needs to combine its dynamic model to optimize the generated planning path,so the turning model of the robotic fish is established.Combined with many disciplines,the mechanical shape of the robotic fish was analyzed,and the design and development of the mechanical shape and the backbone of the fish were completed.To display the parameters of the robotic fish system in real time and send control instructions to the robotic fish platform,the related upper computer platform is developed.The communication system between the robotic fish and the upper computer is developed.The attitude acquisition scheme of biomimetic robotic fish is designed and completed,which is applied to the establishment of turning model and the control of turning motion.The positioning system of the robotic fish platform is designed and developed,which adopts the UWB positioning scheme with better adaptability and high-precision positioning in the outdoor,so that the positioning scheme can adapt to the larger outdoor water environment and achieve good precision.The obstacles in the path planning are simplified,which is convenient to deal with the robotic fish and obstacles when programming.In the design of pheromone updating mode,the shortest path and the minimum energy consumption are taken as the related parameters of pheromone updating.Combined with the turning model of the robot fish,the generated path is optimized,so that the optimized path can well meet the turning model of the robot fish.Finally,the ant colony path planning algorithm of multi joint bionic robot fish is implemented on Qt platform,and the path planning simulation experiment is carried out.