微小型仿生机器鱼设计与实时路径规划

The Design and Path Planning of a Miniature Biomimetic Robotic Fish

提出一种结构紧凑,运动灵活,装配多传感器,可自主游动的微小型仿生机器鱼系统设计方案.在仿鲹科加月牙尾模式鱼类运动研究的挂础上,给出了微小型机器鱼推进、转弯等运动的控制方法.结合运动控制和传感器信息处理,给出了基于红外传感器的自主避障算法和基于光敏传感器的主动趋光算法,进而提出了基于这两种传感器信息感知的动态光源跟踪方法.通过实验,给出了机器鱼尾部摆动频率、幅度和运动速度之间的关系,验证了机器鱼追踪动态光源算法,表明了本文所提系统设计方案和算法的有效性.

This paper proposes a novel miniature biomimetic robot fish based on single link with compact construction, high maneuverability, and multiple sensors. The robot fish mimics the motion of Thunniform mode, and the methods of propelling, turning, and C-turning are given, The arithmetic of obstacle avoiding and light source tracking based on the infrared sensors and photosensitive sensors are inducted. Experimental results are given to show the relationship between the amplitude, frequency, and the velocity. The dynamic light source tracking algorithm is also validated.