Single Robotic Fish Collision Avoidance Control

Relative Paper:

We manually control the toy submarine to move towards the robotic fish. A camera beside the pool collects the location information of the submarine and the robotic fish and sends them to the control center. With the collision avoidance control algorithm, the control signal was sent to the robotic fish through wifi. The Arduino chip inside the robotic fish generates the voltage on the tail to make a turn. At the 10s, the robotic fish start to turn to avoid colliding with the toy submarine.

The current time, voltage on IPMC, and velocity of the fish in the x and y direction are shown at the upper left corner of the video. The rest variables are parameters in the collision avoidance algorithm.

Description of the robotic fish
Head and body: 3D printed with waterproof treatment.
Tails: servo motor for the first joint and the IPMC soft material for the second joint.
Inside: Arduino with designed circuit and a 12v battery