| 基于模糊逻辑和几何学的机器鱼顶球路径规划 |
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| 引用本文： | 高溥,台秀华,李宗刚. 基于模糊逻辑和几何学的机器鱼顶球路径规划[J]. 兵工自动化, 2010, 29(11): 85-88. DOI: 10.3969/j.issn.1006-1576.2010.11.025 |
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| 作者姓名： | 高溥 台秀华 李宗刚 |
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| 作者单位： | 兰州交通大学机电工程学院,甘肃兰州,730070;兰州交通大学北京大学多智能体系统联合实验室,甘肃兰州,730070;兰州交通大学机电工程学院,甘肃兰州,730070;兰州交通大学北京大学多智能体系统联合实验室,甘肃兰州,730070;兰州交通大学机电工程学院,甘肃兰州,730070;兰州交通大学北京大学多智能体系统联合实验室,甘肃兰州,730070;兰州交通大学机电工程学院,甘肃兰州,730070;兰州交通大学北京大学多智能体系统联合实验室,甘肃兰州,730070 |
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| 摘 要： | 针对人工势场法及流场法的缺点,将模糊逻辑与几何学路径规划方法相结合,提出一种新的机器鱼顶球路径规划方法。利用几何方法规划机器鱼的运动轨迹,采用模糊规则产生机器鱼的方向控制指令,使得机器鱼能够沿期望轨迹运动,并在机器鱼平台上进行了验证。结果表明,该方法是有效的,能使机器鱼的位姿始终处于最佳的顶球状态。
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| 关 键 词： | 机器鱼 模糊逻辑 几何学 路径规划 |
| 收稿时间： | 2013-01-08 |
A Path Planning Method Based on Fuzzy Logic and Geometry for Robotic Fish Pushing-Ball |
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| Gao Pu,Tai Xiuhua,Li Zonggang. A Path Planning Method Based on Fuzzy Logic and Geometry for Robotic Fish Pushing-Ball[J]. Ordnance Industry Automation, 2010, 29(11): 85-88. DOI: 10.3969/j.issn.1006-1576.2010.11.025 |
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| Authors: | Gao Pu Tai Xiuhua Li Zonggang |
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| Affiliation: | Gao Pu1,2,Tai Xiuhua1,Li Zonggang1,2(1.School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China,2.Peking University Joint Laboratory for Multi-Agent Systems,China) |
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| Abstract: | Considering the drawbacks of artificial potential field and the flow field methods,this paper presents a new method for robotic fish path planning in ball-pushing based on the geometry path planning method and the fuzzy logic.In our scheme,geometrical method is first used to plan the way of robotic fish.Then,fuzzy rule is employed to decide the direction of robotic fish by which drive the robotic fish moving along the desired trajectory.The proposed method has been verified on the robotic fish platform.The ... |
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| Keywords: | robotic fish fuzzy logic geometry path planning |
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