A coordination method for multiple biomimetic robotic fish box-pushing

This paper presents a novel method for coordinating multiple biomimetic robotic fish in box-pushing task. Having successfully developed a robotic fish prototype, and built a platform of multiple robotic fish coordinated control system to study coordinated control strategies for multiple robotic fish, we step further to study coordination problems of multiple robotic fish in unstructured and dynamic environments. To simplify the difficulty of path planning and action decision when a fish is approaching the box, we employ a situated-behavior design method which is based on situations, and for each situation a specific behavior is elaborately designed. On dealing with the synchronization and coordinated pushing problems in the particular underwater environment, fuzzy logic method is adopted for motion planning of the fish. Experimental results of box-pushing performed by two robotic fish validate the effectiveness of the proposed method.