基于模糊控制的仿生机器鱼转向控制研究  

Research on Turning Control of Biomimetic Robot Fish Based on Fuzzy Control

作　　者：谢超平[1] 孔峰[1] 陶金[1] 

机构地区：[1]广西工学院电子信息与控制工程系,柳州545006

出　　处：《机器人技术与应用》2009年第4期26-28,共3页Robot Technique and Application

摘　　要：针对一类微小型仿生机器鱼的转向控制问题,结合其自身运动的特点,提出一种基于模糊控制的转向控制算法.根据实验室经验建立模糊控制规则,运用Mamdani推理,构造出控制响应表.通过避障问题对算法进行验证,仿真结果表明,该方法对机器鱼的转向控制有效,可行且能满足实时性的要求.To the turning control problem of a kind of microminiature biomimetic robot fish,a turning control algorithm based on fuzzy control has been presented combined with the characteristic of itself locomotion. Set up fuzzy control rules based on the experience of laboratory and constructed control response table with Mamdani inference. Validated the algorithm with the obstacle avoidance problem,the simulation results show the effectiveness and capableness of this method and can meet the needs of real-time in the turning control of therobot fish.

关 键 词：仿生机器鱼 模糊控制 转向控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]