基于二阶邻居网络拓扑的多机器鱼一致性研究

Research of Consensus of Multiple Robot Fish Based on Second-Order Neighbors' Information Network

为加快多仿生机器鱼群体游动的一致性收敛速度,采用一种基于二阶邻居网络拓扑结构的多机器鱼控制模型来描述机器鱼之间的信息交换方式。为易于分析描述,用图论概念进行定义,将编队中的机器鱼构成"多机器鱼队形图"。探讨群体机器鱼系统一致性问题,利用数学模型进行一致性分析,并在水中机器鱼2D仿真平台上进行仿真分析。仿真结果表明,基于二阶邻居网络拓扑的多机器鱼有良好的一致性和快速的收敛性。

To speed up the convergence rate, a multiple robot fish topology model was presented to show the transmission of the information which is based on the second-order neighbors＇ information. To simplify the analysis, the concept of graph theory is used, then a ＂robotic fish formation map＂ is formed. What＇s more, a mathematical model is constructed to analysis the consensus and put up simulated analysis on underwater robot fish 2D platform. Finally,simulations are provided to demonstrate the consensus of multi-robot fish which is based on the second-order neighbors＇ information, and its faster convergence rate.