Control and coordination of biomimetic robotic fish

Investigation in biomimetic robotic fish is a multidisciplinary problem entirely involving hydrodynamics-based control and robotic technology. In this paper, grounded on an optimized kinematic propulsive model of fish that relate frequency to speed and joint angle bias to turns, a robotic fish and its motion control are designed. Information of multiple fishes´ position and orientation, with real-time visual tracking, is then obtained for positioning in the coordinate experiment. The coordinated motions of the fishes are achieved by behavior-based strategies composed of role assignment, behavior selection and role transition. An experimental system for multiple robotic fishes´ coordination is finally constructed to verify the proposed scheme and algorithms, and the running experiments of passing-hole and pushing-ball primarily show the effectiveness of the presented strategies.