Recognition of Sizes and Angles of Obstacles Using Distance Sensors for Fish Robots

Abstract:- Obstacle detection and recognition to avoid collision for a natural and smooth movement are the most important concerns for a fish robot. Walls, rocks, water plants and other nearby robots are common obstacles for a group of small scale fish robots and submersibles that have been constructed in our lab. A distance measuring sensor for general purpose use rather than a camera is mounted on a motor shaft to scan a certain range of foreground from the head of a fish robot. The fish robot’s ability to recognize the location, size, and the approaching angles to an obstacle is improved to avoid collision based on the scanned information. Evident features of obstacles ’ sizes and angles are obtained through a neural network training algorithm from the scanned data by a simple distance sensor. Experimental results show the successful path control of a fish robot to go through a passage without hitting obstacles