| 仿生机器鱼运动方向的模糊控制研究 |
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| 引用本文： | 陈尔奎,喻俊志,王硕,谭得健,谭民. 仿生机器鱼运动方向的模糊控制研究[J]. 高技术通讯, 2004, 14(2): 63-67 |
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| 作者姓名： | 陈尔奎 喻俊志 王硕 谭得健 谭民 |
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| 作者单位： | 江南大学通信与控制工程学院,无锡,214036;中国科学院自动化研究所复杂系统与智能科学实验室,北京,100080 |
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| 基金项目： | 863计划 ( 2 0 0 1AA42 2 3 70 )资助项目 |
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| 摘 要： | 结合仿生机器鱼运动的三种转弯模式，设计了一种用于机器鱼运动方向控制的模糊控制器，并阐述了具体算法的实现。实验结果表明，该方法是有效的，且具有较好实时性，能够满足多仿生机器鱼协调协作研究的需要，并为未来机器鱼的实际应用奠定了良好基础。
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| 关 键 词： | 仿生机器鱼 方向控制 模糊控制器 |
The Fuzzy Control Research on Motion Orientation of Biomimetic Robot Fish |
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| Chen Erkui,Yu Junzhi ,Wang Shuo ,Tan Dejian,Tan Min. The Fuzzy Control Research on Motion Orientation of Biomimetic Robot Fish[J]. High Technology Letters, 2004, 14(2): 63-67 |
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| Authors: | Chen Erkui Yu Junzhi Wang Shuo Tan Dejian Tan Min |
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| Affiliation: | Chen Erkui,Yu Junzhi *,Wang Shuo *,Tan Dejian,Tan Min * |
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| Abstract: | Orientation control of bionic robot fish locomotion relating to complex hydrodynamic problems, it is very difficult to establish a mathematic model. A fuzzy controller for robot fish orientation control has been designed combined with three turning mode of motive bionic robot fish in this paper. At the same time, the realizing process of this algorithm is illustrated in detail. The experiment results show the effectiveness and real time ability of the presented controller. It can meet with the needs of the research on cooperation and coordination of multiple bionic robot fishes, and establishes foundation for practical application in the future. |
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| Keywords: | Biomimetic robot fish Orientation control Fuzzy controller |
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