基于模糊控制的仿生机器鱼避障算法  

Obstacle Avoidance Algorithm of Bionic Robot Fish Based on Fuzzy Control

作　　者：李庆春[1] 高军伟[1] 谢广明[2] 许恩江[3] 

机构地区：[1]青岛大学自动化工程学院,山东青岛266071 [2]北京大学工学院,北京100871 [3]北京石油化工学院工程教育中心,北京102617

出　　处：《兵工自动化》2011年第12期65-69,共5页Ordnance Industry Automation

基　　金：国家自然科学基金"海洋运动监测平台自适应采样关键技术研究"(41076062)

摘　　要：在具有复杂性与不确定性的水环境下,针对无法建立精确的水下机器人控制数学模型问题,提出基于模糊控制的仿生机器鱼避障算法。将视线导航原理与模糊控制思想相结合,进行水下机器人路径规划。通过专家经验,设计一个模糊控制器,实时调整水下机器人的运动方向,并通过仿真实验验证该算法的有效性。仿真及实验结果表明:该算法能实时、稳定地提供水下机器人的运动路径,有效躲避障碍物,安全达到目标点。As the environment of underwater is complex and uncertain, it is hard to found exact mathematical model to control autonomous underwater vehicles （AUVs）. Fuzzy control is combined with line of sight in this paper for AUV. Based on fuzzy control of obstacle avoidance for bionic robot fish is proposed and this algorithm provide an important basis for the path planning for AUVs. Through expert knowledge and experience, a fuzzy controller is utilized to adjust the moving direction for an AUV in order to make the AUV avoid the obstacle and then reach the goal securely. Results show by simulation and experiment that this algorithm is effective and feasible for the path planning for AUVs.

关 键 词：仿生机器鱼 视线导航 模糊控制 避障 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]