基于预设直线通道的鸽子机器人飞行转向调控研究

Research on Steering Behavior Control of Pigeon Robot Based on Preset Straight Path

为了探究鸽子机器人基于预设直线通道左右转的控制,设计鸽子机器人飞行控制算法。依靠GPS获取鸽子机器人实时位置坐标,通过鸽子位置与通道的距离偏差以及速度方向和通道的角度偏差,判断需施加刺激的类型,循环判断至鸽子回巢;借助预编程鸽子飞行控制器输出脉冲信号刺激鸽子相应脑区,最终使其转向行为可控。实验结果显示:该算法可以控制鸽子机器人的左右转行为,成功率分别为72.7%和66.7%。

To explore the control of left-right rotation behavior of a pigeon robot based on a preset straight path, the control algorithm of pigeon robot flight is designed. The current position coordinates of the pigeon robot are obtained by GPS real-time positioning. The type of stimulus to be applied was judged by the distance deviation between pigeon position and channel as well as the speed direction and angle deviation of channel. The judgment circulates until the pigeon returns to the nest. With the aid of the pregrammed pigeon flight controller, the pulse signals were output to stimulate the corresponding brain region of the pigeon, leading to the controllable turning behaviors of the pigeon finally. The experimental results show that the algorithm can control the left turn and right turn of the pigeon robot with success rate at 72.7% and 66.7% respectively.