Design and Development of Control Algorithms for Biomemitic Autonomous Fish Robot

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Autonomous Robot for underwater exploration with high cruising speed and efficient in terms of propulsion and stability. Designed robot is mimics the biology of a fish for its behavioral function and its structural anatomies. Among the various biological locomotion techniques in liquid environment, the fish appears to have most characteristics in a single body. This model is developed for low radii of curvatures with high cruising speeds with an ability of autonomous obstacle avoidance. This model is an example for autonomous underwater vehicles having low coefficient of drag for the body which gives the advantage of less energy requirement for higher speeds.

The main challenges include hardware performance in terms of propulsion efficiency, mechanical robustness, maneuverability, adaptability and autonomy. The inherent problems of current biomimetic devices have been identified as 1) Mechanical complexity due to the use of discrete and rigid components and 2) Autonomous control. Keeping both the swimming kinematics and the corresponding swimming performance of the proposed devices, in terms of material, actuation and geometry design parameters models are developed. Identifying the required prototype design parameters for a given target performance design methodologies are proposed. Keeping this in mind mechanical components are made simpler and various control algorithms are proposed and will be implemented through various simulation. The main objectives: swim around the tank with a pre-defined path. Automatically shut down all the operations when power levels fall below low level voltage and come back to the surface. Ascend/Descend during swimming pattern at random intervals. Avoid obstacles.

The future scope of the project will be different fishes have different swimming techniques which can be adapted application wise. Robotic fish should be able to find a charging station as real fish look for food by monitoring the battery supply, frequent intervals of time the fish has to transmit the logged data to an on board station, Inter-Communication between two or more fishes can be implemented, sensor system should be improvised to increase autonomous performance, defense mechanism to protect robotic fish from other aquatic creatures. The material planned is aluminum for body and crystalline frame inside the body for holding all the devices firmly.


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  • Name:
    Sivayazi K
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  • Sivayazi's favorite design and analysis tools:
    Solid works , Msc ADAMS, Mat Lab, CATIA, ROS.
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    Playing Badminton, Listening Music, Travelling
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  • Sivayazi is inspired by:
    Natural resource exploration and keeping them safe is the one which gives me inspiration for designing this robot.
  • Software used for this entry:
    Solid Works
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