Obstacle Avoidance Control Strategy of a Biomimetic Wiredriven Robot Fish * Fish has attracted the attentions of researchers because of its excellent swimming performance in water, and biomimetic robot fish was then developed. For robot fish, it is quite significant to perceive its surroundings and then take actions automatically due to the unexpected obstacles. In this paper, a wiredriven robot fish, which can detect obstacles, is designed. We adopt Central Pattern Generator (CPG) for motion control of the robot fish which is capable for smooth transitions among different swimming modes. Moreover, an obstacle avoidance control strategy based on a rule base and a closed loop control structure based on PID algorithm are proposed, which can improve the robot fishxe2x80x99s perception and reaction abilities to the surrounding environment. Finally, experiments are carried out to examine the feasibility of the proposed control strategy.

NeuralDynamicsBased Path Planning of a Bionic Robotic Fish * Without the ability of reversing, the bionic robotic fish has certain peculiarity compared with other robots, and it is more difficult to complete the specified tasks. Therefore, in this paper, a neuraldynamicsbased path planning method applied to a bionic robotic fish is discussed. In this method, the target, obstacles and map are regarded as the pixel points under the coverage of the given area. Avoid the overlap of the pixel points of the target and the obstacles to realize the obstacle avoidance. The method is computationally intensive and adaptable, and the theoretical optimal path can be planned for various motion modes.