Application of two-dimensional path planning algorithms for the robot fish

Application of Two-Dimensional Path Planning Algorithms for the Robot Fish In recent years, researches about robotics systems have gained speed in parallel with the development of technology. Most of these robotic systems are inspired by animals living in the nature. In this study, a linear model of a robot fish based on a Carangiform swimming mode, inspired by a real fish and capable of exhibiting movements of a real fish, has developed in the MATLAB simulation environment. Various path planning algorithms have created to ensure autonomously movements of the robot fish from one place to another. Many applications have been realized for 2D study areas by using A* and Subgoal graph algorithms in the MATLAB environments. A * and Subgoal graph algorithms have been used in order to reach the target from the shortest path and move between obstacles, without hitting them. The location values obtained from A * and Subgoal graph algorithms have applied to the linear model of robot fish. The robot fish model has been seen to follow path determined by the A * and Subgoal graph algorithms. As a result, it has shown with various applications that the robot fish model can reach the target point from the starting point with the path determined by the A* and Subgoal graph algorithms. Key Words: Robot Fish, Path Planning, A * Algorithm, Subgoal Graph Algorithm