| 基于网格算法的多仿生机器鱼协调游动控制 |
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| 引用本文： | 魏洪兴,王田苗,梁建宏,刘淼.基于网格算法的多仿生机器鱼协调游动控制[J].中国造船,2004,45(1):33-38. |
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| 作者姓名： | 魏洪兴 王田苗 梁建宏 刘淼 |
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| 作者单位： | 北京航空航天大学机器人研究所,北京,100083 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，中国博士后科学基金 |
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| 摘 要： | 在多仿生机器鱼实验平台上,针对多仿生机器鱼按次通过水中一个狭孔的问题,进行了多机器鱼协调控制的初步研究.基于对实验场景视频图像的处理和识别结果,提出了一种多机器鱼游动路径规划的网格算法,实现了多条机器鱼之间无碰撞、无路径干涉的快速游动规划.
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| 关 键 词： | 仿生机器鱼 协调控制 路径规划 网格算法 |
| 文章编号： | 1000-4882(2004)01-0033-06 |
| 修稿时间： | 2002年8月31日 |
Cooperative Swimming Control of Multi-Robofish Based on a Gridding Algorithm |
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| WEI Hong-xing,WANG Tian-miao,LIANG Jian-hong,LIU Miao.Cooperative Swimming Control of Multi-Robofish Based on a Gridding Algorithm[J].Shipbuilding of China,2004,45(1):33-38. |
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| Authors: | WEI Hong-xing WANG Tian-miao LIANG Jian-hong LIU Miao |
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| Abstract: | In this paper, based on the experimental platform of multiple mini robofish developed by the authors, a pilot study of cooperative swimming control of multi-robofish is described. According to the result of processing and identification on video image acquired from the experimental environment, a gridding algorithm is put forward, and path planning of non-collision and non-interference among multi-robofish is accomplished. Finally through an experiment, the multiple robofish coorperatively swimming through a narrowness channel is completed, and the effectiveness of the gridding algorithm is validated. |
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| Keywords: | robofish cooperative control path planning gridding algorithm |
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