Robotic Fish Motion Control Algorithm Based on Visual Information Loss

To solve the problem of visual information loss in multi-robotic fish motion control, a motion compensation control algorithm is proposed. First, for the recognition status of a robotic fish, a judgment strategy using the secondary filtering method based on event frequency is expounded. Subsequently, the mathematical model of the straight-line tracking method with semi-closed loop control is established. Through the calculation and planning of an action matrix, the approximate linear motion control of the robotic fish is realized. Subsequently, based on the time–angle relationship, the circle tangent method is derived to realize the turning motion control of the robotic fish in the time domain. Simulation and experimental results show that the proposed algorithm can solve the motion control problem of bionic robotic fish when visual information loss occurs.