Mathematical Modelling and 3D Simulation of a Virtual Robotic Fish

摘要

In this paper, a detailed mathematical model for a virtual robotic fish is presented including hydrodynamic forces and environmental conditions such as oceanic currents. Sony HandyCam camera is used to monitor a live carp fish. The useful monitoring data is extracted from the monitoring images that are used to analyse the locomotion of the fish and determine specific control variables during swimming. The locomotion control and autonomous navigation of the proposed virtual robotic fish is simulated in 3D using Matlab program. Experimental results show that the simulator provides a realistic and convenient way to develop autonomous navigation algorithms for the virtual robotic fish. A course of experimental results show that the control scheme was very effective in path planning and trajectory tracking problems.