A robot fish of autonomous navigation with single caudal fin

The robot fish actuated by single caudal fin has the characteristics of simple structure, convenient control, fast swimming speed. In this paper, a single-fin-propelled robot fish was developed using shape memory alloy wire as driving material. The dynamics model is established and simulated. The robot uses inertial navigation to build its swimming control system, and completes the swimming experiment under the specified path. The experimental results show that the robot has the advantages of simple structure, strong maneuverability, silent propulsion and good controllability.