A BIOMIMETIC UNDERWATER ROBOT DIRECTION CHANGING ALGORITHMS

The performance of the steady-turning while swimming, and sharp-turning motion algorithms a biomimetic underwater robot in form fish is presented this work. biological modelled Mackerel - Scomber scombrus. It’s patterns are precalculated programmed into its firmware as an inflexible algorithm to save power consumption due continuous motor position recalculations. tail six segments plywood panels with vulcanized rubber acting joints. This structure driven by three remote-control servomotors (Futaba 3003) under control microcontroller (PIC18F4520). for steady turning derived swimming introducing offset servomotor displacements about midline robot. sharp treats one turn them simultaneously left or right restore quickly straight form, which allows at tight corner. A 54cm radius was achieved swimming. however works but requires several attempts before proper reorientation desired direction.