Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

Table 1

The relations between swimming gaits and control surfaces.

Swimming gaits	Control surfaces	Control parameters
BCF forward	Body + caudal fin	𝜔𝑖, Γ𝑖 (𝑖=1,2,…,4)
Hybrid forward	Body + caudal fin + PF	𝜔𝑖, Γ𝑖 (𝑖=1,2,…,6)
MPF forward	PF	𝜔𝑖, Γ𝑖 (𝑖=5,6)
MPF backward	PF	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=5,6)
BCF turning	Body + caudal fin	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=1,2,…,4)
MPF turning	PF and/or pelvic fin	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=5,6,7)
Hybrid turning	All involved	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=1,2,…,7)
Sideward swimming	Pelvic fin	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=7)
Diving/surfacing	PF or BCF + PF	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=1,2,…,6)
Braking	All involved	𝜔𝑖, Γ𝑖, 𝜃𝑖 (𝑖=1,2,…,4)