Target tracking control of a bionic mantis shrimp robot with closed-loop central pattern generators

To address the challenge of efficient underwater target tracking, this study focuses on the mantis shrimp as a biomimetic model. The research involves the design of a bionic mantis shrimp robot featuring a structure that supports multi-pleopod coupled movement. We propose a target tracking control system based on a bionic closed-loop central pattern generator (CPG). This system integrates CPG control, proportional integral derivative control, and fuzzy logic control. It aims to enable precise target tracking by dynamically adjusting the robot's motion in response to data from vision sensors. Extensive underwater experiments validate the effectiveness of this control system in both static and dynamic target tracking scenarios. The experiments demonstrate that the bionic mantis shrimp robot can perform multiangle turns and adjust its velocity flexibly in a confined space measuring 2 m × 1 m × 1 m. Notably, the robot can track targets at angles up to 130° relative to its initial motion direction. The minimum tracking turning radius achieved is 0.65 m, highlighting the potential for advanced target tracking and broader applications in underwater robotics.