A Study on Optimization of fish robot velocity using Genetic Algorithm

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, and etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. In this paper, we studied the motion mechanism of real fishes, from which we derived the dynamic equations of a fish robot. Using the equation we developed a method to find the optimal parameters to give a maximum propulsive power for a considered fish robot. We used genetic algorithm and HCA(hill climbing algorithm) to find optimal value for maximum velocity of fish robot. Finally some experiments are carried out to compare the motion characteristics between experiment and simulation.