Design and implementation of a remote?controlled robotic fish

Fish have amazing swimming ability in the water for thousands years of evolution. In nature, they are the best swimmers with features of mobility, fast swimming and sudden change of direction.In this thesis, Carangiform fish having astonishing swimming ability and efficiency is investigated, and the dynamic model of swimming movements of these species is established including kinematic and hydrodynamic models. Using the derived dynamic model, simulations is performed for the movement of the robotic fish in MATLAB/Simulink environment. The joint angles, obtained from the simulation results, are applied to the prototype of the robotic fish in experimental studies.By using the proposed dynamic model, design of a 4-joint robotic fish which can swim in a Carangiform mode is proposed. By using the design model, a robotic fish prototype which has decision-making and autonomous swimming capabilities is designed. The robotic fish can swim autonomously avoiding obstacles. In addition, it can be controlled by remote controller detecting the user?s commands. Experimental studies are presented in the form of photo images by using the video data, and mobility and swimming capabilities of the robotic fish have investigated. In this study, by analyzing obtained results, it is aimed to create a basis to future studies in order to determine robotic fish design and fish-like motion.Key Words: Biomimetic Robotic Fish, Robotic Fish Design, Remote-Control, Multi-Joint Robot