Design of a Networked Control System for Biomimetic Robot Fish

摘要

In this paper, a networked control system for a biomimetic robot fish is introduced. The whole system includes four parts: a network camera which is embedded with FTP and Web server and used as a local sensor; a remote computer which works as a networked controller and obtains sensor information from the network camera, processes the information, generates instructions for the robot fish, and sends them to the local controller; a local controller which relays the instructions to the robot fish via wireless communication; a robot fish without embedded sensors. Image processing algorithms for posture extraction and a rule-based point-to-point motion control algorithm are proposed for the networked control of the robot fish. All these algorithms are realized with Microsoft Foundation Class (MFC) and work on the remote computer. The experimental platform is set up on Intranet. An experiment of point-to-point motion control of a robot fish is shown and the statistic of the transmission delay of the images is given.