Direction and Depth Control System Design in a Carangiform Fish-Robot
Henrique Dória1; Natália Mendes Ceoldo1; Jimmy Setsuo Hirata1; Armando Choquetarqui1; Ricardo Pires1; Rafael Pereira Bachega1; Alexandre Brincalepe Campo1
1 Instituto Federal de São Paulo
doi:10.20906/CPS/COB-2015-2331
Resumo
In this work is presented the study regarding the pectoral fins influence on direction and depth of an autonomous carangiform fish-robot inside a water tank. According to the data acquired from pressure sensor on both sides of the fish-robot, the balance and depth are controlled using two servomotors attached to the pectoral fins. The pressure measured in both sensors is used to analyze some aspects of the swimming robot. The depth of the robot fish and the movements in roll and yaw axis may be analyzed using these data. Another aim of this work is the study of the dynamics of the straightforward movement and methods to turning using known mathematical patterns of a carangiform fish tail movement. The methods to change direction can combine the tail movement with the pectoral fins influence. These initial studies to control the direction and depth of the fish-robot will be used for navigation control system in further development.
Palavras-chave: fish robot; control systems; embedded system; underwater system