Dynamics Modeling and Design of a Squid-Like Robotic Fish with Jet Propulsion

In the face of a small and complex unstructured environment, squid has a high advantage in using jet propulsion. Compared with other fishes, squid has a simpler locomotion form and biological structure, and its propulsion is more direct, making it an excellent bionic prototype. Inspired by squid, this paper proposes a jet-propelled robotic fish, capable of performing the multi-degree-of-freedom motion. The jet propulsion of this robotic fish is achieved by periodically changing the volume of the cavity through the inflation-deflation deformation, and the swimming direction can be changed by the thrust vectoring. This robotic fish can swim autonomously using the motion control program and implement the planned path issued by the host computer. Meanwhile, equipped with acoustic ranging sensors, it can avoid obstacles autonomously. This paper presents the design of this robotic fish and the way to realize its function in detail.