一致性方法的多仿生机器鱼编队对齐行为  

Consensus-based method for formation alignment behavior of multi-robotic fish

作　　者：台秀华[1] 

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《黑龙江科技学院学报》2012年第1期79-83,共5页Journal of Heilongjiang Institute of Science and Technology

摘　　要：针对多仿生机器鱼编队中的对齐行为,利用一致性的方法,提出一种新颖的机器鱼编队控制方法。设定机器鱼群体的一致性协议,模拟一定的群体智能、群体行为,通过机器鱼之间的局部信息交流,群体方向最终达到一致。在机器鱼平台上分别对信息拓扑为无向图和有向图的情况进行了一致性实验验证。实验的初始条件是机器鱼个体的朝向和各自运动方向随机,实验的最后结果两种情况下机器鱼群体方向均达到了一致。实验结果表明,该方法是有效的,实现了编队的对齐行为。This paper presents an attempt to address the alignment behavior of multi-robotic fish for- mation by proposing a novel controlling method for multi-robotic fish formation, depending on consensus protocol. The method consists of setting up the consensus of agreement of robotic fish group and simula- ting certain group intelligence and group activities, resulting in an eventual agreement in robotic fish group directions. The paper describes consensus experiments respectively on undirected graph and direct- ed graph of information topology on the platform of robotic fish. The initial condition is such that the di- rections of each individual robotic fish and their respective movement are random, with the resultant con- sistency in the two circumstances robotic fish group directions, as shown by the final experiment. The method proves effective and thus enables the formation alignment behavior.

关 键 词：机器鱼 一致性 多鱼编队 对齐行为 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]