A School of Robotic Fish for Mariculture Monitoring in the Sea Coast

Abstract

This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic fish has 5 degrees of freedom for controlling its depth and speed by mimicking a sea carp. Its bionic body design enables it to have high swimming efficiency and less disturbance to the surrounding sea lives. Several onboard sensors are equipped for autonomous 3D navigation tasks such as path planning, obstacle avoidance and depth maintenance. A robotic buoy floating on the water surface is deployed as a control hub to communicate with individual robots, which in turn form a multi-agent system to monitor and cover a large scale sea coast cooperatively. Both laboratory experiments and field testing have been conducted to verify the feasibility and performance of the proposed multi-agent system.

Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion

“…These advantages have great benefit for marine applications and fish-like robots have evolved to provide versatile solutions for a wide variety of underwater applications, such as undersea investigation, pollution detection, deep sea monitoring and mapping, military operations and protections, etc. [8][9][10][11].…”

Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

“…A fish-like underwater robot, which has flexible tail mechanism, can swim faster and more quietly with lower consumption and higher maneuverability in water, where a conventional propeller AUV cannot reach [6][7][8][9]. These kinds of robots, namely robotic fish, are preferred for underwater exploration, observation andresearch purposes, especially where maneuverability is required [10]. Considering these advantages, a robotic fish design provides versatile solutions for various different marine applications, such as examination of underwater resources, determination of pollution, observation of living forms, survey of submerged areas, fault detection in electricity or oil pipelines, coastline security and military missions [10][11][12][13].…”

Research on Autonomous Underwater Robot Propelled by Bionic Octopus Tentacle Propulsors

“…Inspired by this, technicians invented many kinds of bionic underwater robot to meet different requirements and to get over the imperfection of traditional ones. Newly invented robot includes robotic fish [2], biomimetic robot [3], flapping foil AUV [4], etc. The research on bionic underwater robot is just on the beginnin g stage.…”