Experimental study on the maneuverability of a robotic fish based on image processing

In this paper, a robotic fish based on modular design was presented, the maneuverability of the robotic fish were investigated by experiment using image processing technology. On the basis of the modular design, a robotic fish employing a carangiform swimming form has been developed, which was capable of cruising, accelerating, sharp turning etc. To obtain the maneuverability of the robotic fish, a series of experiments were conducted to observe the kinematic variables including the turning angle, the angular velocity and the angular acceleration during the sharp turning. The experimental results proved that the robotic fish had good maneuverability in the sharp turning.