基于动态角色的多机器鱼协作顶球研究  

Research on cooperative ball-pushing for multiple biomimetic robotic-fish based on dynamic role assignment strategy

作　　者：肖权[1,2] 孔峰[1] 谢广明[3] 

机构地区：[1]广西工学院电子信息与控制工程系,广西柳州545006 [2]长江三峡能事达电气股份有限公司,湖北武汉430070 [3]北京大学工学院智能控制实验室,北京100871

出　　处：《机械设计》2012年第7期24-28,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(10972003);广西研究生教育创新计划资助项目(2011105940811M01)

摘　　要：机器鱼水球比赛是进行多机器鱼协作研究的标准平台。考虑在机器鱼水球比赛中的协作顶球策略问题,以行为机制理论为基础,根据机器鱼与球之间的距离及机器鱼的方向,通过引入进攻与防守函数来确定各机器鱼的动态角色分配。进一步将多机器鱼协作顶球任务划分为4个子任务层,分别对4个子任务层的行为机制与算法加以规划。最后,通过实验验证了多机器鱼协作顶球策略的可行性和有效性。Water polo game performs as one standard platform for the study on multiple biomimetic robotic-fish cooperation these days. Consider the ball-pushing task, in which the dynamic roles of robotic-fish are determined by attack and defense functions which are based on the distances between the robotic-fish and the center of ball and the directions of the robotic-fish. Further, the ball-pushing task is plotted into four subtask levels, whose behaviors and algo- rithm are plotted separately. Finally, it is verified through test that it is effective and feasible for the multiple biomimetic robotic-fish to cooperative push ball on multiple biomimetic robotic-fish coopera- tive control platforms.

关 键 词：多机器鱼 协作 动态角色 行为机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]