2D仿真机器鱼协作过孔策略

Strategies of Collaboration Through Hole by 2D Simulated Robotic Fish

针对目前国内对于多水中机器人协作的研究较少的问题,提出一种双鱼高效协作控制方法。从尺寸因素、动力学因素和可控性因素3个角度详细研究了比赛平台的主要环境特点,针对狭窄环境的特点,设计了以水中机器人头顶球、肩抗球和头夹球3个带球动作,分别以速度和稳定性为侧重点,设计实现了速度优先策略和稳定性优先策略,并分别对2套策略进行了实验验证。实验结果表明:2个策略的成功率都达到100%,但相比之下稳定性优先策略更佳。

As domestic researches on collaboration of several robotic fishes are rarely seen, this article presents a high efficient cooperating control method for two robotic fishes. Firstly, major features of competing platform are analyzed in details from factors of size, dynamics and controllability. Then, designs three methods of carrying water polo according to the specific circumstances respectively including heading on, shouldering on and head pressing. After that, two sets of cooperation strategies according to the criterions of velocity and stability separately are designed analyzed and compared in details. Experiments prove that both strategies are adequate to the competing mission and the strategy taking the stability criterion prevails than the other one.