Moving Target Tracking Control of a Biomimetic Robotic Fish

Abstract

This paper proposes a moving target tracking control framework for a biomimetic robotic fish. Inspired by a boxfish in nature, a single-joint robotic fish with a pair of one-degree-of-freedom pectoral fins is first developed. A camera and an infrared sensor are specially employed to recognize the underwater target. In order to describe the fishlike swimming, a dynamic model based on the Newton-Euler method is constructed. Meanwhile, according to the control approach of fishlike swimming motion, a target tracking control framework including a speed controller and a direction controller is proposed to track a static or moving target, where the oscillation frequency and directional bias parameters are adopted to regulate the swimming speed and direction, respectively. Finally, simulation results verify the effectiveness of the proposed target tracking control method, where the robotic fish is controlled to track a red target moving in a circle at a certain speed.