Fiche _Like Mobile Robot implementation

Abstract

Due to the increasing demand for environmental sustainability, significant attention has been paid to aquatic environmental monitoring using autonomous underwater robot. This project aims at constructing a biologically inspired fish- like robot. The robot is designed to be capable of propelling itself through oscillations of a flexible caudal fin, like a real underwater fish. The actuation system and the sensing system are introduced, studied then designed. The robot has three actuation systems for locomotion, including the buoyancy system used to pump water in and out of the robot’s body to change the net buoyancy (we used a ventilator operating by DC motor in this project), and the actively-controlled tail fin system used to control the turning motion and heading orientation, a servomotor is used for this objective in this project.