仿真机器鱼双鱼协作过孔策略的研究

Research on Strategy of Two Robotic Fishes' Collaboration to Pass Through Hole

水中机器人受到水波动力及水下复杂环境等相关因素的影响,导致行为控制和多机器鱼之间协作完成任务成为难点。针对水中机器人大赛中的双鱼协作过孔项目,从仿真机器鱼控制及协作策略两方面对水中机器人的控制方法进行了研究。水中机器人控制采用基于目标区域的路径规划方法,克服了仿真机器鱼由于水波动干扰而无法准确到达目标点的问题。仿真机器鱼通过不断感知外界环境和自身位置,合理进行角色变换,从而有效地实现了协作带球过孔的任务。该算法在2011中国机器人大赛暨RoboCup公开赛水中机器人双鱼协作过孔项目中获得冠军。对仿真机器鱼控制及协作策略的研究,为日后实体水中机器人的控制研究提供了参考,具有重要意义。

Many factors such as wave power and complex environment make it difficuh to control multi-robot fi- shes＇ behaviors and make them cooperate to complete a task. According to the project of Two Robotic Fishes Collabo- rate through the Hole in the Water Robot Competition, this paper studied the water robot control method from two aspects ： emulational robotic fish control and collaboration strategy. The water robot control employs the planning method based on the target area. This method can overcome the problem that the robotic fishes can not reach the target point accurately because of water wave＇ s interference. The emulational robotic fishes can perceive external environments and their location, and then change their roles appropriately to achieve the task of heading ball collaboratively to pass through the hole. The proposed algorithm won the championship in the match event of Two Robotic Fishes＇ Collaboration to Pass through Hole in the 2011 RoboCup Competition. The studies about robotic fish control and collaboration strategy provide some reference for the water robot control research and have very important significance.