水中机器鱼仿真系统中的伪3D绘制  

Pseudo-3D Drawing of Robotic Fishes on 2D Simulation System for Underwater Bionic Robots

作　　者：陈晓[1] 李淑琴[1] 谢广明[2] 

机构地区：[1]北京信息科技大学计算机学院,北京100101 [2]北京大学工学院,北京100871

出　　处：《计算机仿真》2013年第4期339-343,共5页Computer Simulation

基　　金：北京市属市管高等学校人才强教计划资助项目(PHR201007131);国家自然基金项目(10972003);机器人技术与系统国家重点实验室开放基金项目(SKLRS-2009-MS-09)

摘　　要：关于水中机器鱼仿真系统设计问题,在二维仿真平台上,绘制具有碰撞特性和三维动态视觉效果的物体的技术实现比较难。因此,可结合仿真机器鱼比赛采用的2D仿真平台,提出鱼体关节的柔性体线建模和尾鳍相位变换等设计思想,采用GDI+技术,修复了平台原有的刚体建模导致的碰撞处理漏洞,为机器鱼仿真搭设了物理层映射到界面层的桥梁,有效减少了鱼体碰撞的穿越现象。实验证明,改进方法在实现三维效果方面可为水中机器鱼仿真系统优化提供支持。To designing the simulation system of robotic fish under water, it is difficuh to draw object with colli- sion characteristics and 3D dynamic visual effect on the 2D simulation platform. Therefore, combined with the 2D simulation platform adopted by robofish competitions, this paper put forward the ideas of drawing flexible model of the fish＇s joint and caudal phase shift. Then by applying GDI ＋ technology, the problem of collision caused by the Rigid Model of the platform before was resolved, which bridges physical layer and the interface layer for the robofish simu- lation and reduces the phenomenon of ＂crossing＂ in fish collision effectively. Experimental results prove that the im- proved method in realizing 3D effect can provide support for optimizing water machine fish simulation system.

关 键 词：机器鱼 仿真平台 三维动态视觉效果 柔性体线 相位变换 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]