仿生机器鱼的水下探测和避障控制

Underwater detection and obstacle avoidance of bionic machine fish

文章提出了一种集成多红外测距传感器、GPS定位器、CMOS摄像头的仿生机器鱼,建立了仿生机器鱼传感器网络,设计了机器鱼的机构组成和技术参数,制定了一种仿生机器鱼游动规则库和控制方法,定义了10种机器鱼基本运动形式和几种转弯模式,使其在设定的游动规则中自主游动,主动避障,探测水下情况,实验验证了其有效性。

A bionic machine fish integrating infrared distance sensors, GPS locator, CMOS cameras is put forward. Robotic fish sensor network is established and the composition of the fish and the tech- nological parameters are set. A kind of swimming rule base and control method of the bionic machine fish is developed, and ten kinds of basic movement forms and several turning modes of the fish are de- fined, which makes the fish automatically swim, actively avoid obstacle, and detect underwater situa- tion by the defined swimming rules. The validity is verified by the experiments.