A 3D simulation system of micro robotic fish was developed in windows operation system with VC++6.0 developing environment and OpenGL international graphic standard

in order to reduce the cost of obstacle avoidance research using real robotic fish and reduce the damage to the real robotic fish. A virtual robotic fish was built using polygon modeling method and the swing of fish tail was simulated. A virtual ray method which simulated infrared sensor detecting obstacles was proposed. Based on the information of multiple sensors

a composite fuzzy controller using real time fuzzy control algorithm was designed to decide the avoidance behavior of micro robotic fish. The simulation results demonstrate the composite fuzzy controller is of real-time and has high efficienly. Micro robotic fish was efficiently conducted by the composite fuzzy controller to avoid both single arbitrary shape obstacle and multiple continuous obstacles and achieved the targeting result. A reliable

realistic and convenient platform was provided for researching the autonomous obstacles avoidance capacity of micro robotic fish.