Underactuated Biomimetic Autonomous Underwater Vehicle for Ecosystem Monitoring

Abstract-- In this paper we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal actuation behaviors learned using reinforcement learning techniques. We present our preliminary mechanical design of the tail oscillation mechanism and illustrate the swimming behaviors on FishGym simulator, where the reinforcement learning techniques will be tested on. I. INTRODUCTION Recent years have seen growing interest in underwater exploration for ecosystem monitoring, marine education, navigation and rescue. Bio-inspired soft robots, particularly fish-like ones, are well suited for observing marine ecosystems that are fragile and undisturbed.