In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish.

中文翻译：

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用于目标检测和跟踪的自主机器鱼的设计与开发

在本文中，一种自主机器鱼设计用于水下操作，例如物体检测和跟踪以及避免碰撞。机器鱼原型的计算机辅助设计模型是使用 Solid Works® 软件设计的，将立体光刻 (STL) 文件导出到 3D 打印机 MakerBot，以使用聚乳酸热塑性聚合物制造机器鱼的零件。机器鱼的精确机动性是通过尾鳍的推进来实现的。尾鳍的摆动由伺服电机控制。视觉和超声波传感器的组合用于跟踪目标物体相对于鱼的位置和距离，并避开障碍物。在正常曝光条件下，机器鱼能够检测最远 90 厘米的物体。进行计算流体动力学分析以分析机器鱼船体周围的流体流体动力学（水的流速和压力）以及作用在其上的阻力。一系列实验结果表明了设计的水下机器鱼的有效性。