Guidance and control of fish robot with apparatus of pectoral fin motion

Deals with (1) a manoeuvre test in the horizontal plane of a fish robot equipped with a pair of apparatus for pectoral fin motion on both sides and (2) guidance and control of the fish robot in the horizontal plane. The fish robot consisting of a fish body model and a pair of apparatus for pectoral fin motion has high performance of manoeuvrability such as turning in the same position. The use of fuzzy control enables the fish robot to perform rendezvous and docking with an underwater post in a water current.