Abstract
In this paper, we need to detect the 3 axes position of the swimming fish robot in order to implement the aquarium fish underwater robot world. And, it implements positional control of the 3axes trajectory path for fish robot. The applied robot was verified the performance though the certificated fields test. It was satisfied the excellent performance such as driving force, durability and water resistance in experimental results. We can find robot position that it is to recognize an object by using a video camera without any other sensors inside the fish robot. It is possible to find the fish robot position detection value of the absolute coordinate 3 axes using the proposed object recognition methods which are applied the optical flow object detecting method with boundary filter and optical flow method. Also, the fish robot model is designed to detect 3 axes using the proposed model of 3 axes tracking using optical flow detecting method, which model is realized by the MATLAB and Simulink and control the position of the swimming fish robot which following to 3D holograms fish. It was verified by the performance test for the designed aquarium fish robot world.
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