Fish locomotion modeling and simulation based on carp fish monitoring

Building successful applications using mimicked robotic fish required a comprehensive study to the various parameters affecting fish's performance during swimming in water, such as thrusting force, swimming speed, manoeuvrability, etc. during various swimming behaviour including straight swimming, c-turn escape and s-shape maneuver. The high complexity of the underwater environments pushed the researchers to find new techniques for underwater robots modelling. Among these techniques, video model prediction technique plays an important role in describing the rules covering the relationships between the fish and its environment. This paper introduces an experimental method to model and then simulate, using Matlab, the main swimming modes of a carangiform Carp fish swimming based on the continuous video monitoring. The suggested models may be used in the future to build and control a real counterpart robotic fish and to produce the important autonomous navigation commands that govern the robotic fish locomotion. The realistic results of fish swimming simulation prove the validity of suggested models.