Development of Networked Robot Fish Control Systems

In this paper, a networked control system based on Simulink´s s-function is presented for remote control of a biomimetic robot fish. The whole system consists of a network camera, a remote controller, a local controller and a robot fish. The remote controller obtains real-time images from the network camera, processes these images, generates control instructions, and sends the control instructions to the robot fish through a network. The local controller receives the instructions and sends them to the robot fish via wireless communication. The control system on the remote computer is developed as a Simulink model with s-function modules, in which an image processing algorithm and a rule-based control algorithm proposed are realized. The experimental results for point-to-point motion control of a robot fish through intra-net are given