The Path Planning And Applied Research Of Biomimetic Robotic Fish

With the development of moving performance of biomimetic robotic fish, the path planning of it is becoming one of the hot research areas. Researched on three-joint biomimetic robotic fish, the pose control from arbitrary pose to goal pose and the path planning in different conditions have been carried on. And then, this paper presents a maximum differential algorithm which can be used in ocean adaptive sampling.Firstly, the research purpose of path planning of biomimetic robotic fish is introduced. The research development and main research direction of underwater biomimetic robots and their path planning are reviewed. The background and the structure of this thesis are also addressed.Secondly, the kinematic model and mechanical configuration of the three-joint biomimetic robotic fish are presented. The moving performance of biomimetic robotic fish containing turning performance and speed performance are attained through experiments.Thirdly, based on tangent circle method and fuzzy sliding trace method are presented in pose control of biomimetic robotic fish, the advantages and disadvantages of them are explained. The tangent circle method can achieve the shortest path in theory, and the fuzzy sliding trace method can attain the higher control accuracy.Fourthly, the three layered obstacle avoidance is presented in the known circumvents by the biomimetic robotic fish, and the fuzzy control method is applied in unknown circumvents or apart unknown circumvents. The experimental results indicate that these algorithms are valid for robotic fish to avoid obstacles, and then reach the goal safely approximately.Fifthly, with the background of ocean sampling by robotic fish, the maximum differential algorithm is introduced. Experimental results indicate the effectiveness and feasibility of the proposed approach.Finally, the results are summarized and the future work is addressed.