Study on Swimming Control of Multi Mini Robofish

As fishlike underwater vehicle has inspiring maneuverability compared with normal underwater vehicles thrusted by screw propeller, it has much extensive application foreground in cooperative and control for multiple underwater robot. In this paper, an experimental platform of multi mini robofish is developed, and performance test of the robofish is carried out. Base on this, robofish positioning control was studied. Due to the undulation of water environment and interfere among multi robofish themselves, the swimming of robofish shows highly non-linear and precise positioning control is very difficult. This paper proposes a learning algorithm of robofish, and through constructing robofish behavior database, the precise positioning control of robofish is obtained. This study makes foundation for multi robofish cooperative control