| 一种基于视觉的仿生机器鱼实时避障综合方法 |
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| 引用本文： | 陈尔奎,喻俊志,王 硕,谭 民.一种基于视觉的仿生机器鱼实时避障综合方法[J].控制与决策,2004,19(4):452-454. |
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| 作者姓名： | 陈尔奎 喻俊志 王 硕 谭 民 |
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| 作者单位： | 1. 江南大学,信控学院,江苏,无锡,214036
2. 中国科学院自动化研究所,复杂系统与智能科学重点实验室,北京,100080 |
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| 基金项目： | 国家"863"计划项目(2001AA422370). |
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| 摘 要： | 提出了一种基于视觉的仿生机器鱼实时避障综合方法,该方法基于HIS颜色模型,利用MMX指令和SSE指令,采用并行处理算法实现图像的快速处理;然后,基于栅格法建立环境模型,利用势场法获得优化路径规划策略,在此基础上,采用模糊方法对机器鱼的运动方向进行控制,利用速度分布函数对机器鱼的运动速度进行控制,实验结果表明了所提方法的有效性和可达性。
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| 关 键 词： | 仿生机器鱼 视觉信息 实时避障 综合方法 |
| 文章编号： | 1001-0920(2004)04-0452-03 |
Real-time obstacle-avoidance synthesized method for bionic robot fish based on visual information |
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| CHEN Er-kui,YU Jun-zhi,WANG Shuo,TAN Min.Real-time obstacle-avoidance synthesized method for bionic robot fish based on visual information[J].Control and Decision,2004,19(4):452-454. |
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| Authors: | CHEN Er-kui YU Jun-zhi WANG Shuo TAN Min |
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| Affiliation: | CHEN Er-kui~1,YU Jun-zhi~2,WANG Shuo~2,TAN Min~2 |
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| Abstract: | A real-time obstacle-avoidance synthesized method based on visual information for a bionic robot fish is presented. In this method, based on HIS color model, quick image processing is achieved by using of MMX and SSE instructions as well as parallel processing algorithm. An accurate environment model is established based on the grids method. And some optimal strategies of the path-planning are obtained utilizing the potential field method. The motion orientation and speed of the fish are controlled by the fuzzy method and the speed distribution function respectively. Experimental results show that this method is efficient and attainable. |
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| Keywords: | bionic robot fish visual information real-time obstacle avoidance synthesized method |
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