仿生机器鱼的尾部运动分析与控制

The tail movement analysis and control of biomimetic robotic fish

提出了一种自主避障的仿生机器鱼,给出仿生机器鱼的整体结构设计和尾部结构设计,并对仿生鱼的内部连接进行了描述.在仿生机器鱼的结构设计的基础上对仿生机器鱼的尾部运动进行了详细的分析.分析了仿生机器鱼在避障时尾部摆动与障碍物之间的关系.制定了鱼尾在避障过程中的摆动规则,从而使仿生鱼在避障时尾部不与障碍物有碰撞.通过仿真实验验证了其有效性.

The paper put forward a kind of biomimetic robotic fish which could avoid obstacles automatically,the whole structure and tail structure design,and described the internal connection of biomimetic robotic fish.The paper analyzed tail movement of biomimetic robotic fish in detail based on its structure design,and calculated the relationship between tail swing and obstacles,thus designed tail wing roles in the process of obstacle avoidance,which could avoid collision between the tail and obstacles.Finally,it could be proved to be effective by simulation lab.