Design of a Biomimetic Robot Fish for Realization of Coefficient of Drag with Control Architecture and Fuzzy Logic Algorithm for Autonomous Obstacle Avoidance

摘要

Underwater exploration is recently heading towards emphasizing the research for unknown, complex deep-sea environments where huge mineral resources along with immense living flora and fauna are abundant. Biomimetic robot fish plays an important role in overcoming the drawbacks of a conventional AUV confronting issues such as propulsion efficiency, mechanical robustness, maneuverability, adaptability and autonomy in oceanographic environments. A new design and development methodology is formulated for the culmination of robot fish. A control architecture and algorithm for autonomous obstacle avoidance is simulated in a virtual environment using MATLAB platform. The mechanical design model is certified for safety swimming by conducting static analysis, dynamic analysis along with the coefficient of drag of fish robot realization and with various bio-inspired locomotion patterns of fish designed for self-propelling feature with higher anatomy. On a concluding note, this paper is discerning about a new approach to design a fish robot with the intact autonomous featured vehicle.