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With millions of years of evolution, fish is an excellent swimmer having fast swimming speed, high efficiency and great maneuverability. In recent years, a large number of studies have been carried out on developing fish-like propellers, which are safer, of lower noise and more efficient than traditional rotary propellers. For example, Li et al [3] developed a wire-driven robot fish with a streamlined body and a flapping tail, which can perform various flapping motions for cruising and turning. Pablo et al [1] designed and fabricated a soft body robot fish. Yu et al [6] created a multi-joint robot fish. Though, a few has worked on the robot fish control issues, such as target tracking and collision avoidance. On the other hand, 90% of the world’s trade is carried by water transportation [2]. Target tracking and collision avoidance are essential on wharf management. There are however several difficulties for solving this problem. Firstly, underwater is such complex environment full of unpredictability. Waves, turbulence, ocean current may change anywhere anytime, which could have a big impact on motion of vessel in tracking targets and avoiding barriers. Secondly, powered by rotary propeller and steering by rudder, the aquatic vessel is a system with large hysteresis, whose braking distance is very longer. It is difficult to stop and turn sharply and reach specific positions. In comparison, it is well known that fishes can easily turn around with very small turning radius. This motivates researchers around the world to find a biomimetic solution. For example, Xie et al [5] used situated-behavior-based decentralized control to deal with target tracking and collision avoidance between multiple robot fish collaboration. Nevertheless, so far the achievements are rather limited. In this paper, we present a wire-driven flapping based double-hull boat with a vision-based target tracking system. The boat has two identical wire-driven propellers mimicking fish flapping locomotion and yet providing large loading capacity. Various motions can be performed including cruising and turning with high stability. Moreover, the turning radius is only 180 mm (0.517 body length (BL)) and the turning speed is up to 13.9°/s. A camera is mounted on the boat to capture the surrounding information. The image processing is executed by a microcontroller on board to identify the target position. Accordingly, the boat can change the flapping patterns to track the target by using the modeless method. Based on experimental testing, the boat can always track the target successfully. This research lays the foundation for autonomous navigation in the future.

A Biomimetic Flapping-based Double-hull Boat with Vision-based Target Tracking Capability