Route search for avoiding danger of robot boat following a salmonid fish

摘要

It is well known that a salmonid fish born in a river will get back to the river to spawn after grown in a sea. This behavior so-called homing migration is explained by various theories but no experiments which prove the doctry could not be found. In order to investigate the homing mechanism in lacustrine sockeye salmon (it Oncorhynchus nerka) and masu salmon (it Oncorhynchus masou), a robot boat which follows the fish automatically is being developed. I this report, a method for the robot boat to avoid danger by fixed obstacles such as nets, bouy and shoals is shown.