Robotic Fish’s Movement Based on Kalman Filter and PID Control

摘要

Environmental disturbances lead to the reaction lag and precision drop of robotic fish in Chinese under-water robotic fish game. To resolve the problem, this paper proposes a new method combined Kalman filter and PID control algorithm for controlling robotic fish. The proposed approach was applied into the synchronized swimming competition of robotic fish. Simulation on two dimensional underwater robot game simulation platform shows that the method enhances the accuracy of the movement, shortens the time to the target, and improves the anti-interference ability of robotic fish. It is effective and reliable.