基于模糊控制的仿生机器鱼避障研究

Research on obstacle avoidance of robofish based on fuzzy control

为了使机器鱼能够在复杂与不确定的水下环境中进行自主导航与避障,提出了虚拟传感器与模糊控制相结合的仿生机器鱼避障算法,并使用已开发的仿生机器鱼的三维仿真系统对避障算法进行检测。通过虚拟射线法建立虚拟传感器来探测障碍物的相对位置,并设计一个复合模糊控制器根据虚拟传感器提供的信息实时控制机器鱼的运动。仿真结果表明:该避障算法可以有效地为机器鱼提供避障路径,准确地到达目标点。

In order to make the robotic fish be able to conduct an autonomous navigation and obstacle avoidance in complex and uncertain underwater environment,the obstacle avoidance algorithm of biomimetic robotic fish,which combines the virtual sensor and fuzzy control,was put forward. The obstacle avoidance algorithm of the bionic robotic fish was tested with 3D simulation system. By virtual ray method,a virtual sensor to detect the relative position of the obstacles was established. A composite fuzzy controller to timely control the movement of the robotic fish according to the information provided by the virtual sensor was designed. The simulation results show that this obstacle avoidance algorithm can effectively provide obstacle avoidance path for robotic fish and let it accurately reach the target.