基于人工侧线的相邻仿生机器鱼感知研究

侧线系统是鱼类重要的感知器官,鱼类可以通过侧线器官实现对周围环境的感知,从而进行捕食、避敌以及一些群体行为.鱼类尾鳍摆动时会形成反卡门涡街,研究反卡门涡街对于仿生机器人的位姿和运动状态感知具有重要意义.以仿生机器鱼为平台、以侧线系统为依据,在机器鱼上实现人工侧线系统,当前方不同相对横向位置处机器鱼尾鳍摆动时,利用人工侧线实现对尾鳍摆动产生的反卡门涡街进行信息感知,从而间接识别机器鱼的相对横向位置,为群体机器鱼的相互感知提供了新思路.

Study on Perception of Neighbor Bionic Fish Based on Artificial Lateral Line System

Lateral line system is an important sensory organs of fish,fish can achieve the perception of the surrounding environment through the lateral line organs,and also prey,get on group behavior to avoid the enemy.Fish tail fin swing will form anti Karman vortex street,research on anti Karman vortex street perception has important implications for pose and motion of bionic robot.Taken bionic robotic fish as a platform and lateral line system as the basis,artificial lateral line system is achieved on the robotic fish.When different front relative lateral positions robotic fish tail fin swing,artificial lateral line system can perceive anti Karman vortex information,and thus indirectly identify the relative lateral position of robotic fish,which provides a new idea for mutual perception of robotic fish group.