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\begin{document}

\title{Development and application of the coverage path planning based on a
biomimetic robotic fish}



\author[1]{Jincun Liu}%
\author[1]{Jian Zhao}%
\author[2]{Zhenna Liu}%
\author[1]{Yang Liu}%
\author[1]{Yinjie Ren}%
\author[1]{* Dong}%
\author[1]{Yaoguang Wei}%
\affil[1]{China Agricultural University}%
\affil[2]{Shandong Labor Vocational and Technical College}%


\vspace{-1em}



  
  \date{May 16, 2024}


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\begin{abstract}
This paper studies the coverage path planning and path following
problems for an underwater biomimetic robotic fish to finish the
deep-sea net cage water quality monitoring. Firstly, with a focus on
minimizing total path length, repetition rate, and turning occurrences
to enhance path coverage efficiency and reduce energy consumption, we
propose a novel coverage path planning strategy. This strategy
incorporates DQN, a reward function, and a rewrite strategy inspired by
RRT*. Secondly, a high-performance path-following method, which takes
into account robot performance, is designed to cope with adverse
conditions in net cages. Finally, the simulation and field experiments
demonstrate significant improvements over existing methods and the
effectiveness in practical applications, showcasing its applicability in
aquaculture management. The proposed algorithm offers valuable insights
into optimizing coverage path planning for underwater robots in
practical scenarios.%
\end{abstract}%



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