【摘要】 机器鱼工作的水下环境往往是复杂且无法准确预知的,因此在遇到障碍物时,能够及时躲避转弯尤为重要。文中提出了一种利用模糊控制实现以电磁驱动器作为动力源的机器鱼转弯避障控制方法,并在FLUENT软件中使用用户自定义函数和动网格技术进行了转弯仿真,结合安装红外距离传感器,在Matlab中设置模糊控制器输入输出隶度函数,并归纳出模糊控制的规则。最后搭建实验平台进行机器鱼水下转弯避障游动实验,实验结果表明,模糊控制结合红外距离传感器可以实现电磁驱动机器鱼在二维平面游动时的有效避障。更多还原

【Abstract】 A fuzzy obstacle avoidance control method for the robotic fish actuated by electromagnetic actuator was proposed. And the software FLUENT was employed to perform turning simulatio n by using its user define function(UDF) and the dynamic mesh technology. Infrared distance sensor was used. The input and output membership functions of the fuzzy controller were set in Matlab, and the rules of fuzzy control were summarized. Furthermore, an experimental platform was built to conduct underwater turning for obstacle avoidance experiment of the robotic fish. Experimental results show that the fuzzy control combined with infrared distance sensor can realize obstacle avoidance effectively when the electromagnetic actuated robot fish swims in a two-dimensional plane.更多还原