Robotic Fish For Water Polo Control Strategy

With the development of scientific technology and further study of artificial intelligence, robotic has become a hot research field. The research on underwater robots is of significant importance to the ocean exploration. In the future, the bio-mimetic robotic fish should be engaged in hard tasks in the complex underwater environment, such as, oceanic exploration, marine organism observation, and military reconnaissance. Institute of Technology in Peking University independently develops a kind of miniature Carangidae robotic fish, which is the initial research platform. Based on the robotic fish game, this article studies the artificial intelligence according to the body structure and movement characteristics of the robot fish.Firstly, we summarize the background of the bio-mimetic robotic fish. In addition, the research significance and main content are explained, and the main contribution of this article is simply described. At the same time, combined with robotic fish game, the hardware parameters and motion characteristics of the body of the robotic fish and the related experimental platform are also introduced.Secondly, both the defensive strategies based on the fuzzy control and the offensive strategies based on the virtual tangent circle are proposed. The former enables the robotic fish to push the ball from the defensive area to the offensive area quickly. The later forces the robotic fish to swim along a smooth path to reach the sweet spot accurately and makes the robotic fish's attack with continuous and pertinence. Furthermore, due to avoidance of the shake caused by the angle change of the motor and water wave, the attack of the robotic fish is more efficient and the success rate of the ball attack is also improved. At last, we analyze the accuracy and feasibility of the attack of the robotic fish. When the direction of the fish is adjusted through the tangential circle method, we can get a high accuracy of shooting. Then, we discuss the border offense and get the best position for shooting by drift.Finally, we summarize the contribution of this article and point out the future work.