Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking

This paper presents a study on bioinspired closed-loop Central Pattern Generator (CPG) based control of robot fish for obstacle avoidance and direction tracking. The biomimetic is made rigid head with pair pectoral fins, wire-driven active body covered soft skin, compliant tail. CPG model consists four input parameters: the flapping amplitude, angular velocity, offset, time ratio between beat phase restore in flapping. equipped three infrared sensors mounted left, front right fish, as well an inertial measurement unit, from which surrounding obstacles moving can be sensed. Based these sensor signals, CPG-based drive to avoid track designated directions. Four sets experiments are presented, including avoiding static obstacle, tracking path. experiment results indicated that presented strategy worked accomplish effectively.