Robotic-Fish Simulator

This project is based on my Masters Degree in Computer and Automation Engineering (Marche Polytechnic University) Final Thesis. I started the project during my Erasmus internship in Ireland at the University of Limerick, in particular at the CRIS (Center for Robotics & Intelligent Systems) department, an Irish research center that deals with the application and development of marine robotics.

Project description

The Project consists in the study and implementation of a Navigation, Guidance and Control System for a biomimetic Robot, focusing on the implementation of a simulation environment using Matlab Simulink, enhanced with a 3D graphic interface (Virtual Reality World).

The simulator deals with:

• Mathematical Model (Kinematics and Dynamics)
• Propulsion System
• NGC System:
  • Line of Sight (LOS) Guidance Law
  • Path following Control System (using PID)

For details look at my Thesis

Note:

1. Since I only dealt with the simulation environment, the vehicle's states are derived derictly from the robotic-fish mathematical model.
2. The vehicle is assumed to be in an environment without any kind of disturbances and without any noises in position and attitude measurements.

3D Model

The propulsion system of the prototype is composed of a total of six actuators (overactuated), of which three are traditional propellers and the other three are bio-inspired propellers, namely the caudal fin and the pectoral fins.

Results

Waypoint-based path, consisting of a total of four waypoints.

Trajectory of the Robotic Fish in the X-Y-Z plane:

Requirements

• Matlab/Simulink Software Version R2019a or later
• Simulink 3D Animation

Run the Project

Open and Run RoboticFish_NGC.slx file

matlab command:

open RoboticFish_NGC.slx

Credits

The project was carried out under the guidance of:

• Professor David Scaradozzi
• Eng. Nicolò Ciuccoli
• Eng. Daniele Costa