Research on patrol algorithm of multiple behavior-based robot fish

This paper discusses the system of the patrol control mechanism and algorithm of multiple robot fish. A behavior-based control architecture is presented. Basic behaviors are designed for robot fish, and behavior selection strategies are also depicted. The description of the multiple robot fish patrol task and the definition of multiple robot fish patrol modes are given. Then the algorithms for formation-keeping and patrol control are developed. Finally, some experimental results are discussed to testify to the validity of these algorithms.