J0205-3-5 Development of fishlike underwater robot with ability of obstacle detection and avoidance

Abstract

A fishlike autonomous underwater robot was developed. Three infrared distance sensors and a microcomputer circuit are built into the robot. These systems can detect obstacles and the robot can perform evasion movement. This robot has two actuators: a caudal fin and a pectoral fin. Motion of a caudal fin with the phase difference is realized by using a special mechanism. Experiments were carried out to observe the robot performance of obstacle avoidance. As a result, the robot could avoid the obstacles by turning and ascending movements.