基于网格算法的多仿生机器鱼协调游动控制  

Cooperative Swimming Control of Multi-Robofish Based on a Gridding Algorithm

作　　者：魏洪兴[1] 王田苗[1] 梁建宏[1] 刘淼[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《中国造船》2004年第1期33-38,共6页Shipbuilding of China

基　　金：国家"863"计划(2001AA422370)资助项目;中国博士后基金资助项目

摘　　要：在多仿生机器鱼实验平台上,针对多仿生机器鱼按次通过水中一个狭孔的问题,进行了多机器鱼协调控制的初步研究。基于对实验场景视频图像的处理和识别结果,提出了一种多机器鱼游动路径规划的网格算法,实现了多条机器鱼之间无碰撞、无路径干涉的快速游动规划。In this paper, based on the experimental platform of multiple mini robofish developed by the authors, a pilot study of cooperative swimming control of multi-robofish is described. According to the result of processing and identification on video image acquired from the experimental environment, a gridding algorithm is put forward, and path planning of non-collision and non-interference among multi-robofish is accomplished. Finally through an experiment, the multiple robofish coorperatively swimming through a narrowness channel is completed, and the effectiveness of the gridding algorithm is validated.

关 键 词：网格算法 仿生机器鱼 游动控制 场景视频图像处理 场景视频图像识别 路径干涉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]