Summary
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.
This work is funded by the National Natural Science Foundation of China (No. 60635010, No.60605026, No.50475179), 863 Project (No.2006AA11Z225), and CASIA Innovation Fund for Young Scientists.
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Zhou, C., Cao, Z., Wang, S., Dong, X., Tan, M. (2008). A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_14
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DOI: https://doi.org/10.1007/978-3-540-75404-6_14
Publisher Name: Springer, Berlin, Heidelberg
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