Guidance and Control of Fish Robot with Apparatus of Pectoral Fin Motion

Abstract

This paper deals with (I) maneuver test in horizontal plane of a fish robot equipped with a pair of apparatus of pectoral fin motion on both sides and (2) guidance and control of the fish robot in horizontal plane. The fish robot consisting offih body model and a pair of apparatus of pectoral fin motion has high performance of maneuverability such as tuming in the same position. The use of fizzy control enables the fish robot perform rendzmous and docking with an underwater post in a water current. - 66 j FdWbg Leaa-Lag