Collaboration Strategy of Multiple Robotic Fish Based on the Mission Planning and Effective Area

In order to solve the problems on multiple robotic fish' mission planning and coordinated ball-pushing, this article puts forward the collaboration strategy of multiple robotic fish based on the mission planning and effective area. According to the idea of task allocation based on area, fish will be divided. Simulated fish will play different roles and get assignments, to complete the ball movement. Ball-pushing algorithm, which is based on effective area, makes the simulated fish adjust the body position with the decrease of the effective area continuously, until it reaches the best ballpushing position. Simulation result shows that using this algorithm, it will take less time for simulated fish to reach the best ball point, the simulation robotic fish coordinated goal is more stable, scoring rate is higher, and phenomena like ballmissing and ball-rounding are improved.