碩士 / 國立暨南國際大學 / 電機工程學系 / 96 / 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.
| Identifer | oai:union.ndltd.org:TW/096NCNU0442026 |
| Date | January 2008 |
| Creators | Chi-Hen Yen, 顏啟恆 |
| Contributors | Pei-Jun Lee & Wen-June Wang, 李佩君、王文俊 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 58 |
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