Robotic Fish Path Planning in Complex Environment

In this paper, ant colony (ACO) algorithm and steering model of robotic fish are combined for path planning. Firstly, an environmental model with multiple obstacles is established. Then, the ACO algorithm is used to generate feasible path. An optimal path is obtained which satisfies the principle of shortest path and least energy consumption. Sharp turns in the generated optimal path are replaced by small arcs that allow the robotic fish to move normally. Finally, a series of simulation experiments are carried out to verify the excellent performance and effectiveness of proposed algorithm.