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Proceedings of CAD'17, 2017, 459-466
A Biomimetic Flapping based Double-hull Boat with Vision-based Target Tracking Capability
Abstract. With millions of years of evolution, fish is an excellent swimmer having fast swimming speed, high efficiency and great maneuverability. In recent years, a large number of studies have been carried out on developing fish-like propellers, which are safer, of lower noise and more efficient than traditional rotary propellers. For example, Li et al developed a wire-driven robot fish with a streamlined body and a flapping tail, which can perform various flapping motions for cruising and turning. Pablo et al designed and fabricated a soft body robot fish. Yu et al created a multi-joint robot fish. Though, a few has worked on the robot fish control issues, such as target tracking and collision avoidance. On the other hand, 90% of the world’s trade is carried by water transportation. Target tracking and collision avoidance are essential on wharf management. There are however several difficulties for solving this problem. Firstly, underwater is such complex environment full of unpredictability. Waves, turbulence, ocean current may change anywhere anytime, which could have a big impact on motion of vessel in tracking targets and avoiding barriers. Secondly, powered by rotary propeller and steering by rudder, the aquatic vessel is a system with large hysteresis, whose braking distance is very longer. It is difficult to stop and turn sharply and reach specific positions.
Keywords. Flapping based Propeller, Wire-driven Mechanism, Vision, Target Tracking, Navigation, Biomimetic, Autonomous