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A 3D simulator for autonomous robotic fish

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Abstract

This paper presents a 3D simulator used for studying the motion control and autonomous navigation of robotic fish. The simulator’s system structure and computation flow are presented. Simplified kinematics and hydrodynamics models for a virtual robotic fish are proposed. Many other object models are created for water, obstacles, sonar sensors and a swimming pool. Experimental results show that the simulator provides a realistic and convenient way to develop autonomous navigation algorithms for robotic fish.

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Authors and Affiliations

  1. Department of Computer Science, University of Essex, Wivenhoe Park, Colchester, CO4 3SQ, UK

    Jindong Liu & Huosheng Hu

Authors
  1. Jindong Liu
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  2. Huosheng Hu
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Correspondence to Jindong Liu.

Additional information

Jindong Liu received the BSc degree in Industrial Automation from Shenyang Institute of Aeronautical Engineering, China in 1999, and the MSc degree in Control Theory and Control Engineering from the Institute of Automation, Chinese Academy of Sciences in 2002. He is currently pursuing the PhD degree at the University of Essex in the U.K since 2003. His current research interests include autonomous mobile robots, intelligent control and human Centred robotics. He has published a number of papers in these areas. He is a student member of IEEE.

Huosheng Hu received the MSc degree in industrial automation from the Central South University, China in 1982, and the PhD degree in robotics from the University of Oxford, United Kingdom in 1993. Currently, He is a Professor in Department of Computer Science, University of Essex, leading the Human Centred Robotics Group. His research interests include autonomous mobile human-robot interaction, robots, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control and networked robotics. He has published over 150 papers in journals, books and conferences, and received two best paper awards. He is a Chartered Engineer, a senior member of IEEE, and a member of IEE, AAAI, ACM, IASTED and IAS.

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Liu, J., Hu, H. A 3D simulator for autonomous robotic fish. Int J Automat Comput 1, 42–50 (2004). https://doi.org/10.1007/s11633-004-0042-5

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  • DOI: https://doi.org/10.1007/s11633-004-0042-5

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