An Efficient Docking System for a Novel Vector-Propelled Robotic Fish Based on Implicit Coordination

The ocean's vast resources drive exploration interest, yet its complex and dynamic nature demands advanced underwater robotic systems. This paper presents an autonomous docking system utilizing a bionic vector-propelled robotic fish. The robotic fish, driven by a wire-actuated vector-propulsion tail, achieves omnidirectional movement. Inspired by biological swarm coordination, a bidirectional information exchange protocol is developed for the docking process. To enhance autonomy, we design a hierarchical closed-loop control system integrating a central pattern generator (CPG), visual recognition, and serial controllers. This enables the robotic fish to complete release, search, task execution, and docking. Experimental validation demonstrates the system's effectiveness in achieving stable docking and coordinated motion. The results confirm the feasibility and reliability of the proposed methodology, offering a novel solution for underwater docking in dynamic environments.