仿生机器鱼的设计及其运动控制研究

Design and Motion Control of Biomimetic Robot Fish

本文基于简化的鲹科鱼类的运动学模型,采用多关节的驱动方式和一种多电机的角度控制算法对机器鱼进行运动控制,并通过实验得到了验证,同时,为机器鱼设计了传感器网络,并运用智能避障的方法,使机器鱼具备一定的自主能力。

Based on a simplified kinematic propulsive model for carangiform propulsion, this paper introduces a propulsive mode with multi-link and a kind of angle-control arithmetic for motion control of multi-motor, which are proved to be valid under a few experiments. At the same time, sensor network of the fish is set up and a method of intelligent obstacle avoidance is applied,with the purpose of the fish＇s autonomous swimming.