【摘要】 多仿生机器鱼群体协作的研究是针对未来复杂、动态水下环境中多仿生机器人系统控制和协调作业的需要而开展的相关理论和关键技术的研究。本文依据多仿生机器鱼群体协作研究的要求,给出了一种多机器鱼协作系统的硬件体系结构,并在此结构基础上提出了多机器鱼协作实验仿真系统的设计方案,最终开发并初步实现了该仿真系统,并应用于本文提出的一种协作型机器鱼的CLB分层式控制结构的仿真研究中。该系统实现了环境可视化、过程图形化和算法加载动态化等功能,极大地方便了多机器鱼协作系统研究工作的开展。更多还原

【Abstract】 The research of multiple robot fishes cooperation system is designed for essential theory and key technology about systematic control and cooperative work of future multiple bionic robots under a complex and dynamic underwater environment. In this paper, firstly, a hardware control architecture facing multiple robot fishes cooperation is proposed according to the demand of cooperative system; secondly, based on the former, an architecture design of the multiple robot fishes experimental simulation system is also presented; finally, the simulation system is primarily realized and applied to the simulation study of a cooperative robot fish with layered CLB control architecture. Visualized environment, graphically process and dynamically loaded algorithm will be convenient for carrying out the research of multiple robot fishes cooperation system.更多还原