基于行为规划的多机器鱼编队策略的研究  

Study of Multiple Robotic Fishes Formation Strategy Based on Behavior Planning Method

作　　者：安永跃[1] 李淑琴[1] 

机构地区：[1]北京信息科技大学计算机学院,北京100101

出　　处：《计算机仿真》2013年第11期369-373,共5页Computer Simulation

基　　金：北京市属高等学校创新团队建设与教师职业发展计划项目(IDHT20130519)

摘　　要：机器鱼优化编队问题,是研究控制机器鱼群的相对位置和方向,使多机器鱼作为一个整体来移动,是帮助人类实现水中勘探、救援等任务的基础。为了优化控制多机器人编队,提出了一种行为规划的编队控制方法,将机器鱼编队的运动行为分解为正常运动、队形形成、避碰避障及队形恢复四个子行为。编队初始阶段,采用基于leader作为参考点的思想来形成队形;避碰避障阶段,引用行为向量法约束机器鱼的运动方向,确保机器鱼能够安全避障;当队形被打乱时,各机器鱼按照相互作为参考点的方法快速恢复队形。改进方法在水中机器人2D仿真平台上进行了仿真,结果表明多仿生机器鱼在安全避碰的情况下能够有效的实现编队任务。Multiple robotic fish formation control is the basic of helping mankind to achieve water exploration, res- cue missions and so on. The purpose of this paper is to form a formation of robotic fish safety collision, and keep the formation reaching the target area. This paper proposed a formation control method based on behavior planning, and this method decomposed the bionic robotic fish formation into normal movement, formation, collision avoidance obsta- cle avoidance and recovery of four sub formation behaviors. The initial stage of formation, a leader as a reference point is formed based on ideological formation; in the stage of collision avoidance obstacle, the direction of motion be- havior of reference vector method constrains the robot fish to ensure that the robot fish can avoid the obstacle safety; when the formation is disrupted, the robotic fishes recove the formation fastly according to the reference points as which the robotic fishes take each other.. The algorithm was simulated for validation on the robotic fish platform of underwater 2D simulation. The experimental results show that, the multiple robotic fishes under the condition of safe- ty collision avoidance can effectively achieve the formation behavior.

关 键 词：多机器鱼 行为规划 编队控制 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]