A School of Robotic Fish for Mariculture Monitoring in the Sea Coast
A School of Robotic Fish for Mariculture Monitoring in the Sea Coast作者机构：Korea Institute of lndustrial Technology Ansan 426-910 Korea The Hamlyn Centre hnperial College London London SW72AZ United Kingdom School of Computer Science and Electronic Engineering University of Essex Colchester C043SQ United Kingdom
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2015年第12卷第1期
页 面：37-46页
核心收录：
学科分类：090801[农学-水产养殖] 0908[农学-水产] 081104[工学-模式识别与智能系统] 08[工学] 09[农学] 0811[工学-控制科学与工程]
主 题：robotic fish maricnlturc monitoring multi-agent system pollution detection sea coast
摘 要：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 milnicking 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 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.
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