摘要
针对机器鱼实际工作中控制难度较高的问题,文章在介绍单机器鱼运动控制、路径规划算法的基础上,介绍了机器鱼群的编队控制算法。上述算法的发展和突破主要是通过将传统控制方法与智能算法相结合,并结合实际应用场景对算法进一步优化,以解决传统控制方法鲁棒性差,不适合非线性模型等问题。此外,文章还指出对不同算法进行分装后,根据实际环境调用相应算法将极大地有利于单机器鱼乃至机器鱼群在未知水域的实际应用。
Aiming at the difficulty of control in the actual work of robotic fish,the formation control algorithm of robotic fish swarms is introduced based on the introduction of single robotic fish motion control and path planning algorithms.The development and breakthrough of the above algorithms are mainly by combining traditional control methods with intelligent algorithms,and further optimizing the algorithms in combination with practical application scenarios,so as to solve the problems of poor robustness of traditional control methods and unsuitability for nonlinear models.In addition,it is pointed out that dividing different algorithms and calling the corresponding algorithms according to the actual environment will greatly benefit the practical application of single robotic fish and even robotic fish groups in unknown waters.
作者
胡鑫一
蔡振宇
左可文
詹若璞
郭攀峰
HU Xinyi;CAI Zhenyu;ZUO Kewen;ZHAN Ruopu;GUO Panfeng(College of Electrical Engineering and New Energy,China Three Gorges University,Yichang 443002,Hubei,China)
出处
《船舶工程》
CSCD
北大核心
2022年第S01期455-458,共4页
Ship Engineering
关键词
机器鱼
机器鱼群
传统控制算法
智能算法
robotic fish
multiple robot fish
traditional control algorithm
intelligent algorithm
作者简介
胡鑫一(2000—),男,大学本科。研究方向:机器鱼的路径规划。
