The Design of Motion Control System for Robot Fish

[[abstract]]市面上奇形怪狀的機器人很多，這些機器人也會表演各種動作，但是在水中活動的機器魚卻鮮少見到。本論文的機器魚能夠以自主模式悠游及使用遙控器控制其游水動作，運動行為包括：前進、左轉、右轉、下沉與上浮。除了可利用遙控器完成以上之基本動作外，亦可透過魚體內之攝影機，觀看水下的景觀；在自主模式下，不僅可利用紅外線感測器，測得障礙物的距離，達到自動避開障礙物之功能外，亦可透過內部之攝影機，將拍攝到的影像傳輸到電腦，再搭配影像辨識技術，達到追蹤目標物之功能。因此，本論文為一隻可遙控、自主、監視及追蹤的智慧型機器魚，進一步研究改進，使其可以應用於國防軍事及海底探勘等方面，如水中尋物、探測海底生物與水底掃雷…等。 本研究由兩位同學合力完成，另一位同學主要負責機器魚的硬體設計與製作；本論文負責機器魚之運動控制。機器魚之運動包括：魚體水平前進、魚體水中沉浮、與魚體內重心調校。控制系統核心為PIC16F877單晶片，整合了一些馬達控制原理，使其能完善的控制機器魚的運動；最後本論文並利用MATLAB與模糊理論模擬機器魚之避障運動軌跡，並做分析與比較。[[abstract]]Nowadays, there have been a lot of types of robots to be developed. These robots can show many motions on the ground. However, the robot under water is seldom designed in Taiwan since the design of waterproofing for the robot is very difficult. In this work, we overcome the problem of waterproof to implement a robot fish such that the robot fish can have the following motions by remote control such as swimming forward, turning left and right, sinking down and floating up. There is a camera inside the fish to look around under the water. Based on the IR sensor and camera in the fish body, the fish can swim to avoid the obstacle and transfer the image underwater to PC such that the underwater target tracking is achieved. We believe the robot fish can be improved in the future, then it can be applied in the national defense or ocean exploration such as submarine mine detection, and underwater creature searching etc. This project is accomplished by two students. This thesis introduces the motion control of robot fish, and the other thesis focuses on the hardware design of the robot fish. The accomplished moving motions of the robot fish include horizontal movement (moving forward, turning left or right), sinking and floating, and the centre of gravity adjusting. All motion controls are implemented by different motors and control center is the chip PIC16F877. Furthermore, this thesis uses MATLAB tools and fuzzy logic to simulate obstacle avoiding for the robot fish and gives an analysis and comparison between the both methods.[[note]]碩