CPG-based autonomous swimming control for multi-tasks of a biomimetic robotic fish

• Published in: Ocean engineering 2019-10, Vol.189, p.106334, Article 106334
• Main Authors: Bal, Cafer, Ozmen Koca, Gonca, Korkmaz, Deniz, Akpolat, Zuhtu Hakan, Ay, Mustafa
• Format: Article
• Language: English
• Subjects: Autonomous swimming control; Biomimetic robotic fish; Central pattern generator; Closed loop sensory feedback; Fuzzy logic
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2019.106334

This work emphasizes the artificial intelligent control of the developed biomimetic robotic fish (i-RoF) based on sensory feedback Central Pattern Generator (CPG) approach. In order to obtain rhythmic, robust and adaptable closed loop control performance, a novel control mechanism, composed of two subsystems; as a biological based CPG network and a Fuzzy Logic controller, is proposed. The CPG network behaves as an artificial spinal cord, inspired by Lampreys. It is constructed as unidirectional chained network with Sensory Neurons (SNs) which can perceive the external stimulus. The Fuzzy Logic control structure is also designed as a decision-making mechanism and a Finite State Machine (FSM) algorithm is proposed to perform the given missions autonomously. In the experimental studies, different scenarios are created for both situations as autonomous swimming and encountering obstacles while taking on a primary task, which is determined with yaw control. Autonomous swimming ability is performed in the real pool environment with proposed scenarios that are likely to be encountered in a real environment. It is observed that autonomous swimming performance is excellent and yaw control is quite good even in the presence of obstacles. It is also proved that the escape performance of the robot is very fast. •This work emphasizes the artificial intelligent control of the developed biomimetic robotic fish (i-RoF) based on sensory feedback Central Pattern Generator (CPG) with brainstem and fuzzy logic controller which behaves as a high-level brain model.•The sensory feedback, closed loop control structure provides the Central Nervous System (CNS) model in order to control the robotic fish autonomously.•This study contains a closed-loop experimental control structure for the developed biomimetic robotic fish and offers real-time artificial intelligent control with biological sensory feedback mechanism.•This study provides valuable contributions to open-loop studies with efficient three-dimensional autonomous swimming ability and experimentally realistic closed loop results.•The efficient real-time experimental results are obtained in the realistic environment