J4 ›› 2015, Vol. 12 ›› Issue (1): 37-46.doi: 10.1016/S1672-6529(14)60098-6
A School of Robotic Fish for Mariculture Monitoring in the Sea Coast
Young-Sun Ryuh1, Gi-Hun Yang1, Jindong Liu2, Huosheng Hu3
- 1. Korea Institute of Industrial Technology, Ansan, 426-910, Korea
2. The Hamlyn Centre, Imperial College London, London, SW7 2AZ, United Kingdom
3. School of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, United Kingdom
A School of Robotic Fish for Mariculture Monitoring in the Sea Coast
Young-Sun Ryuh1, Gi-Hun Yang1, Jindong Liu2, Huosheng Hu3
- 1. Korea Institute of Industrial Technology, Ansan, 426-910, Korea
2. The Hamlyn Centre, Imperial College London, London, SW7 2AZ, United Kingdom
3. School of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, United Kingdom
摘要：
This paper presents a multi-agent robotic ?sh system used for mariculture monitoring. Autonomous robotic ?sh is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic ?sh 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 naviga-tion tasks such as path planning, obstacle avoidance and depth maintenance. A robotic buoy ?oating 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 ?eld testing have been conducted to verify the feasibility and performance of the proposed multi-agent system.