基于双目视觉的仿生机器鱼路径规划研究

Bionic robot fish path planning based on binocular vision

仿生机器鱼是一种结合多种现代技术的水下机器人,仿生机器鱼的路径规划是对其协调控制的基础。通过基于双目视觉的仿生机器鱼运动控制设计、防碰撞路径规划设计。实验证明,该方法与传统路径规划方法相比可有效防止与障碍物碰撞,缩短仿生机器鱼到达目标点的运动时间,保证仿生机器鱼的高效运行。

The bionic robotic fish is a kind of underwater robot combining various modern technologies.The path planning of the bionic robotic fish is the basis of its coordinated control.Based on binocular vision,the bionic robot fish motion control design and anti-collision path planning design are adopted.Experiments show that this method can effectively prevent collision with obstacles,shorten the movement time of the bionic robot fish to reach the target point,and ensure the efficient operation of the bionic robot fish compared with the traditional path planning method.