基于模糊逻辑的秀丽隐杆线虫避障行为

Avoid obstacle behavior of caenorhabditiselegans based on fuzzy logic

通过对秀丽隐杆线虫波形运动行为进行研究,提出一种通过模糊逻辑和波形运动相结合的避障算法,对其进行可视化仿真实验。根据其本体感受回馈机制下产生波形运动的机理,建立波形运动数学模型和转向模型;利用探测感受器,获取线虫与环境中障碍物的相对位置关系信息;通过模糊逻辑原理构建的模糊控制器系统,模拟线虫的自适应波形运动行为。仿真结果表明,设计的模糊控制系统有效地模拟了秀丽隐杆线虫的躲避障碍物行为,为波形运动爬行机器人的构建提供了理论支持。

A method of obstacle avoidance by combining the fuzzy logic based on the undulatory locomotion was proposed after studying the undulatory locomotion behavior of C.elegans.According to the proprioception mechanism,the undulatory motion and deflection model of the nematode were established.Detection receptors were used to obtain the obstacle information in the environment.The adaptive undulatory locomotion behavior was simulated by constructing the fuzzy control system.Experimental results demonstrate that the designed system can effectively simulate the obstacle avoidance behavior of C.elegans,which theoretically supports the research on the crawling robot.