ROBOT APUNG PEMBERI PAKAN IKAN KOLAM AIR TAWAR BERBASIS ARDUINO

The need for fish is increasing every year. Because it is increasing every year, fish farming must be increased in line with the use of improved fish farming technology. So that it requires an adequate technological structure and mechanization. Based on this background, the arduino-based floating robot for feeding freshwater pond fish is designed to be able to apply technology that is useful in feeding farmed fish. The arduino based floating robot fish feeding freshwater fish pond using Arduino Mega 2560 as its microcontroller, 4 Sharp 2Y0A21 sensors that function to detect pond walls, RTC functions as a timer so that it can feed fish according to the time set on the tool, LCD functions as the information viewer of the tool, the L298N motor driver controls the DC motor and the servo motor functions as the opening or closing of the food valve on the appliance. In the test, the arduino based floating robot fish feeding freshwater fish pond is able to float in water and can feed fish based on the time available on the tool. The Sharp 2Y0A21 sensor as a pool wall detector has a distance reading in the range of 1 millimeter to 10 centimeter. The robot can avoid the pool wall with a span of 3 - 7 seconds, this is influenced, among others, by surging water, wind, sensor response, and DC motors.

Improved Artificial Potential Field and Dynamic Window Method for Amphibious Robot Fish Path Planning

Aiming at the problems of “local minimum” and “unreachable target” existing in the traditional artificial potential field method in path planning, an improved artificial potential field method was proposed after analyzing the fundamental causes of the above problems. The method solved the problem of local minimum by modifying the direction and influence range of the gravitational field, increasing the virtual target and evaluation function, and the problem of unreachable targets is solved by increasing gravity. In view of the change of motion state of robot fish in amphibious environments, the improved artificial potential field method was fused with a dynamic window algorithm, and a dynamic window evaluation function of the optimal path was designed on the basis of establishing the dynamic equations of land and underwater. Then, the simulation experiment was designed under the environment of Matlab2019a. Firstly, the improved and traditional artificial potential field methods were compared. The results showed that the improved artificial potential field method could solve the above two problems well, shorten the operation time and path length, and have high efficiency. Secondly, the influence of different motion modes on path planning is verified, and the result also reflects that the amphibious robot can avoid obstacles flexibly and reach the target point accurately according to its own motion ability. This paper provides a new way of path planning for the amphibious robot.