Design and implementation of the robot-fish simulation system

The simulation system design is proposed for global vision robot-fish and autonomous robot-fish, to satisfy the actual need of underwater bionic robot-fish research and the robot-fish water-polo-game. The system design is put forward originally that concludes a semi-physical simulation model with a 3 layer structure and 2 UDP/IP communications. The simulation system uses the architecture of Client/Server and the centralization simulation model combined with distribution simulation model on the base of the Microsoft Robotics Developer Studio (MRDS), and has irreplaceable advantages, especially for the development of underwater multi-robot-fish cooperation. © 2012 IEEE.