Research on biomimetic robot fish has become one of hotspots in biomimetic robotic field, and it inspires some new ideas for the development of underwater vehicle with high performance. Funded by the National High Technology Program and National Nature Fund Project, research on intelligent control and coordination of biomimetic robot fish based on sensors has been carried out. It presents autonomous an obstacle avoidance control algorithm based on multiple infrared sensors, the navigation control algorithm with real-time visual information processing and the multiple robot fishes patrol control algorithm. Finally, all algorithms are all integrated into underwater monitoring system based on robot fish.Firstly, the characteristics of fish swimming and the research purpose of biomimetic robot fishes are introduced. The research development and main research direction of both fish’s propulsive mechanism and robot fish’s control at home and abroad are reviewed. The background and structure of this thesis are also addressed.Secondly, based on infrared sensor array, the design project of biomimetic robot fish with the ability of autonomous obstacle avoidance is presented, and the design approach of robot fish is introduced. Subsequently, five feasible up-down mechanism projects are compared, and considering the inside structure characteristics of our robot fish, the project of adding a pair of pectoral fins is adopted to realize the up-down motion of robot fish. On the basis of speed control, swimming orientation control and up-down control, nine basic motions are designed, and an intelligent control approach based rule reasoning. The obstacle avoidance experiments are carried out and the experimental results have shown the validity of this control method.Thirdly, on the basis of real-time visual information processing, the visual navigation control problem is discussed. With the background of robot fish phototropism behavior, visual navigation control policy and algorithm is presented in non-structured environment; Based on pipe detecting, the visual navigation control algorithm and pipe map constructing based on topology in semi-structured environment. Finally, robot fish phototropism experiment and pipe detecting experiment have shown the validity of the control policies and algorithms.Fourthly, with the background of robot fish patrol task, the problem of multiple robot fishes is discussed. The basic behaviors are designed and the control framework of behavior-based multiple robot fishes system is put forward. The definitions of patrol modes and patrol trajectory planning approach are depicted. The patrol control algorithms and the formation keeping algorithm of robot fish are presented. The experimental results have shown the validity of the algorithms.
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