Biomimetic robot fish, as a novel underwater robot, can play an important role in many applications. This thesis focuses on the design and control of the biomimetic robot fish propelled by undulatory fins. Research is carried out on mechanism and control circuit design, dynamics modeling, motion control method, autonomous obstacle avoidance and remote control. The main content of the thesis is described as follows. Firstly, the characteristics of fish’s swimming and the classification of different locomotion modes are introduced. The advantages and weaknesses of different locomotion modes used for biomimetic robot fish design are summarized. The research progress, directions and trend of the biomimetic robot fish propelled by undulatory fins are reviewed. The funds and structure of the thesis are also listed. Secondly, based on the fish morphology, kinematics and modularity design ideology, the mechanism of the biomimetic robot fish is designed with separated body and propulsion mechanism. According to the demand of the drive and control of the propulsion mechanism, a FPGA-based control circuit is designed and realized for the control of multiple motors. Thirdly, according to the structure characteristics and locomotion of the undulatory fin, the kinematics and dynamic models are developed for the undulatory fin. And the relations between the fin’s undulatory motions and shapes and the generated thrust are analyzed. On these bases, the dynamic model o is developed for the robot fish by means of stress analysis. Then the influence of the thrust and resistance on the robot fish motion is analyzed. Fourthly, a motion control method based on variable structure CPG is proposed with considerations of the robot fish mechanism and locomotions. In light of the classification of the motion patterns of fish propelled by undulatory fins, six motion patterns of the robot fish are defined and realized by choosing proper parameters of the CPG model. The switch strategy among different motion patterns is also achieved by altering the structure and parameters of the CPG model. Fifthly, the input status of the infrared sensors integrated on the robot fish are used to determine the robot fish’s motion pattern for realizing autonomous obstacle avoidance of the robot fish. By means of utilizing vision sensor in the environment, a remote control system based on overall vision for the biomimetic robot fish is developed. By utilizing the realtime motion image of the robo...
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