一种仿生机器鱼游动控制的研究

A Study of the Bionic Machine Fish Swimming Control

针对现有仿生机器鱼水中碰撞响应处理较困难的问题,提出一种空间群体机器鱼的规划算法,群体中相近的机器鱼形成网络,互相共享环境和目标信息。而在该网络中的机器鱼路径规划采用集中式规划。从整体上来看全部的机器鱼路径规划方法采用集中式规划,但网络之间采用分布式规划方法。通过在仿真平台上的测试,仿真稳定可靠,达到预期设计目标。

Aiming at the difficult problems to deal with the existing bionic machine collision response. This paper puts forward a spatial planning algorithm of robotic fish, groups of similar robotic fish form network, sharing each other environment and target information. In the network path planning of robotic fish, centralized planning is used. On the whole machine all fish path planning method adopts centralized planning, while the distributed planning method is used among networks. Through the test on the simulation platform, the simulation is stable and reliable, achieves the desired design goal.