Coordinating Dual-Mode Biomimetic Robotic Fish in Box-Pushing Task

This paper presents a novel method for coordinating multiple biomimetic robotic fish in box-pushing task. Based on our successfully developing a robotic fish prototype of which the swimming modes can be switched flexibly and smoothly, we step further to study coordination problems of multiple robotic fish in unstructured and dynamic environments. To simplify the difficulties of path planning and action decision when the robotic fish is approaching the box, we employ the situated-behavior method, and for each situation a specific behavior is elaborately designed. On dealing with the synchronization and coordinated pushing problems in the particular underwater environment, fuzzy logic method is adopted for motion planning of the fish. Experimental results of box-pushing performed by two robotic fish validate the effectiveness of the proposed method.