A new Autonomous Underwater Robotic Fish designed for water quality monitoring

Due to the water pollution and eutrophication in East Lake in Wuhan, we have developed a novel Autonomous Underwater Robotic Fish (AURF) to patrol the whole lake to perform water quality monitoring task. It has two major missions: one is to patrol throughout complex lakes to detect water quality; the other is to monitor the water quality of fixed positions successively. This paper provides an overview of vehicle design, motion control, positioning, path planning, fault diagnosis and fault tolerant control. The test experiment is now undergoing extensive testing in several lakes. We are expecting that this AURF will contribute to solving serious pollution problems occurring in East Lake.