Performance optimization and coordinated control of multiple biomimetic robotic fish

This paper studies optimization and coordinated control of multiple biomimetic robotic fish. A platform for designing and optimizing parameters of biomimetic robotic fish is constructed. For optimizing parameters, the platform introduces a pertinent algorithm (cyclic direction method) which proves to be more effective and feasible compared with tabu search algorithm. Furthermore, the multiple robotic fish coordinated control system (MRFCS) is built up in the studies of coordinated control strategies for multiple robotic fish. Considering the difficulties of controlling robotic fish in water environment, a novel behavior-selection mechanism is proposed to harmonize the behaviors of our robotic fish. Experiments on orderly passing-hole, competing with manually controlled fish, and water polo show that our robotic fish exhibit good underwater performance, and the coordinated control strategies proposed are effective