A miniature biomimetic robotic fish and its realtime path planning

Abstract

This paper proposes a novel miniature biomimetic robotic fish based on single link with compact structure, high maneuverability and multiple sensors. The robotic fish mimics the motion of Thunniform mode, and the methods of propelling and turning are given. The information provided by infrared sensors and photosensitive sensors are analyzed and applied to the algorithms of obstacle avoidance, the light source searching and the dynamic light source tracking. Experimental results are given to show the motion ability and the validity of the proposed algorithm. © 2008 Springer-Verlag Berlin Heidelberg.