A 3D Simulator for Autonomous Robotic Fish

This paper presents a 3D simulator used for studying the motion control and autonomous navigation of robotic fish. The simulators 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.