Radio communication for the ICPF-based robotic fish

摘要

It is our target to develop fish-like underwater microrobot for medical and industrial application. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. We demonstrate a system of bio-mimetic fish-like underwater micro-robots that can be controlled from a larger mother submarine. Each micro-robot consists of an AVR minimum-control unit, Radio Communication system, and ICPF actuators. Control signals are used and the remote control device in the mother submarine communicates with the AVR control system to control the movement of the individual fish-like micro-robots. We also demonstrate wireless control over the trajectory of individual micro-robots. Furthermore, we were able to coordinate a group of three micro-robots to move in formation. Simulation results show that path planning using particle swarm optimization can be used to automatically navigate underwater obstacles, which will make the system more robust as the micro-robots find the best path to a given destination.