This Paper Provides a Speedcontrolling Method Based on the Intelligent PID Algorithm for Robotic Fish. by this Method, we can get the Appropriate Speed at Every Moment during the Robotic Fish Moving from Current Position to the Destination. Using it, we can Design and Optimize the Strategy when the Robotic Fish Head the Ball to the Target Point. Besides, we did many Experiments on Urwpgsimd Simulator Platform Using PID and Intelligent PID Algorithm Respectively. Variablecontrolling Approach is Applied to this Comparison. Lastly, the Result Shows that Robotic Fish can Head the Ball more Quickly and Steadily Using Intelligent PID Algorithm. And many Problems, such as Dropping the Ball and Deviating from the Target Point, are Avoided.

The Problems that Simulation Robotic Fish Turn too Hard or Less due to Improper Angular Velocity Gear Values May Appear in the Process of Turning. in Order to Solve the Problems, this Paper Proposes a Method of Turning Gear Control for Robotic Fish Based on Intelligent PID Algorithm. in the Paper, the Control Rules and the Principle of Intelligent PID Algorithm are Discussed. Concrete Control Process with Simulation Analysis on Urwpgsimd is also Given. Experimental Results Show that it is Feasible that the Algorithm is Applied to the Turning Gear Control of Simulation Robotic Fish , and the Application of the Algorithm Effectively Avoids the Phenomenon of Turning too Hard or Less and Ensures the Accuracy of Turning Angle.