水下仿生电场感知综述  

A Survey on Underwater Bionic Electric Perception

作　　者：谢广明[1,3,4] 郑君政 王晨 Xie Guangming;Zheng Junzheng;Wang Chen(State Key Laboratory of Turbulence and Complex Systems,Intelligent Biomimetic Design Lab,College of Engineering,Peking University,Beijing 100871,China;National Engineering Research Center of Software Engineering,Peking University,Beijing 100871,China;Institute of Ocean Research,Peking University,Beijing 100871,China;Peng Cheng Laboratory,Shenzhen 518055,China)

机构地区：[1]北京大学工学院,湍流与复杂系统国家重点实验室,智能仿生设计实验室,北京100871 [2]北京大学软件工程国家工程研究中心,北京100871 [3]北京大学海洋研究院,北京100871 [4]鹏城实验室,广东深圳518055

出　　处：《系统仿真学报》2020年第12期2289-2305,共17页Journal of System Simulation

基　　金：国家自然科学基金(61973007,61633002)。

摘　　要：复杂水下环境中水下机器人的感知与探测技术亟待突破,基于微弱电场的水下仿生感知是一类很有潜力的技术路径。自然界中,一类鱼可在身体周围产生电场并通过电场变化来感知环境和其它生物,被称为弱电鱼。受弱电鱼感知行为启发,国内外学者展开了基于微弱电场的水下感知原理、方法与智能水下机器人方面的应用研究。综述了弱电鱼的生物学机理、水下电场的建模和感知理论、水下电场感知技术及其应用方面的研究进展,并展望了水下仿生电场感知技术的未来发展趋势。Sensing and detection technologies for underwater robots in complex underwater environments have been urgently needed.Weakly electric fields-based underwater bionic electric perception is a promising technical route.A kind of fish in nature,called weakly electric fish,can perceive their surrounding environment and other creatures through the varied electric field generated by themselves.Inspired by the electric fish,researchers have focused on the principle and methods of underwater perception based on weakly electric fields and the applications for intelligent underwater robots.The biological mechanism of weakly electric fish,the modeling and perception theory of underwater electric field,the underwater electric perception technology,and their applications are reviewed,and the future development trend of underwater bionic electric perception technology is prospected.

关 键 词：智能水下机器人 弱电鱼 水下感知 仿生电场感知 目标物体感知 仿生电场通信 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]