Study on the 3D printed robotic fish with autonomous obstacle avoidance behavior based on the adaptive neuro-fuzzy control

A robotic fish should be designed to swim with the obstacle avoidance capability in the real world. In this paper, a neuro-fuzzy control method is proposed for a multi-joint robotic fish using 3D printing technology. For this method, we can use the general infrared sensors to measure the existence of obstacles and the distance from the robotic fish to the obstacles. With the inference and learning ability of the neuro-fuzzy control system, the robotic fish can move away from obstacles freely. Moreover, in order to solve the waterproof problem and facilitate the manufacturing, the 3D printing technology is introduced to construct a real 3D printed robotic fish. The simulations and real experiments demonstrate the merits and practical applicability of the proposed method.