Development of a Smart Biomimetic Fish Robot Integrating Autonomous Navigation, Obstacle Avoidance, and Real-Time Motion Control
Year: 2026
Type: conference-paper
Abstract: This study reports the development and testing of a smart biomimetic fish robot that combines semi-autonomous navigation, reactive obstacle avoidance, and real-time motion control in one compact mechatronic platform. The robot uses a multi-joint body driven by coordinated servo actuators, so that its tail motion can approximate the undulatory movement of a swimming fish. Proximity sensors supply distance information to an embedded controller, which then adjusts the swimming response when an obstacle is detected. The control architecture also retains Bluetooth-based teleoperation, making the prototype usable in both assisted and semi-autonomous modes. The prototype was evaluated through leakage, stability, propulsion, and obstacle avoidance tests in a controlled watertank environment. The measured results show an average swimming speed of$0.12 mathrm{m} / \mathrm{s}$, a turning angle of 30°, a response time of 0.8 s, and an estimated navigation error of 5%. The experiments also indicate that increasing oscillation frequency improves propulsion until the response reaches a saturation region. Although the robot performed reliably under controlled conditions, several constraints remain, especially the absence of advanced sensor fusion and the limited scope of testing in dynamic aquatic environments. Future work will therefore consider additional sensing units and more adaptive navigation algorithms to improve autonomy, robustness, and practical deployment. Overall, the proposed platform offers a workable basis for developing semi-autonomous biomimetic underwater robots.
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7203598703