Design and development of autonomous robotic fish for object detection and tracking
In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to Mak...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420925284 |
| _version_ | 1818453989978537984 |
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| author | Daxiong Ji Faizan ur Rehman Syed Ali Ajwad K Shahani Sanjay Sharma Robert Sutton Shuo li Zhangying Ye Hua Zhu Shiqiang Zhu |
| author_facet | Daxiong Ji Faizan ur Rehman Syed Ali Ajwad K Shahani Sanjay Sharma Robert Sutton Shuo li Zhangying Ye Hua Zhu Shiqiang Zhu |
| author_sort | Daxiong Ji |
| collection | DOAJ |
| description | In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish. |
| first_indexed | 2024-12-14T21:47:45Z |
| format | Article |
| id | doaj.art-5f1302694c084499b28f84ad4518bacf |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T21:47:45Z |
| publishDate | 2020-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-5f1302694c084499b28f84ad4518bacf2022-12-21T22:46:19ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-05-011710.1177/1729881420925284Design and development of autonomous robotic fish for object detection and trackingDaxiong Ji0Faizan ur Rehman1Syed Ali Ajwad2K Shahani3Sanjay Sharma4Robert Sutton5Shuo li6Zhangying Ye7Hua Zhu8Shiqiang Zhu9 Institute of Marine Electronics and Intelligent System, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China Institute of Marine Electronics and Intelligent System, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China LIAS (EA 6315), Université de Poitiers, Poitiers, France Ocean Optics Lab, Institute of Ocean Technology, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China Autonomous Marine Systems Research Group, School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, Devon, UK Autonomous Marine Systems Research Group, School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, Devon, UK The State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Shenyang, Liaoning, China College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, Zhejiang, China Pengcheng Lab, Nanshan, Shenzhen, China Institute of Marine Electronics and Intelligent System, Ocean College, Zhejiang University, Zhoushan, Zhejiang, ChinaIn this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish.https://doi.org/10.1177/1729881420925284 |
| spellingShingle | Daxiong Ji Faizan ur Rehman Syed Ali Ajwad K Shahani Sanjay Sharma Robert Sutton Shuo li Zhangying Ye Hua Zhu Shiqiang Zhu Design and development of autonomous robotic fish for object detection and tracking International Journal of Advanced Robotic Systems |
| title | Design and development of autonomous robotic fish for object detection and tracking |
| title_full | Design and development of autonomous robotic fish for object detection and tracking |
| title_fullStr | Design and development of autonomous robotic fish for object detection and tracking |
| title_full_unstemmed | Design and development of autonomous robotic fish for object detection and tracking |
| title_short | Design and development of autonomous robotic fish for object detection and tracking |
| title_sort | design and development of autonomous robotic fish for object detection and tracking |
| url | https://doi.org/10.1177/1729881420925284 |
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