A 3D Simulator for Autonomous Robotic Fish
نویسندگان
چکیده
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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