| 多仿生机器鱼群体及单体控制体系结构的研究 |
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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. 中国矿业大学信息与电气工程学院, 徐州 221008;
2. 中国科学院自动化研究所复杂系统与智能科学实验室, 北京 100080 |
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| 基金项目： | 国家863计划资助项目(2001AA422370) |
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| 摘 要： | 多仿生机器鱼群体协作与控制的研究,是针对未来仿生机器鱼在水下作业、海洋考察、军事侦察等方面的实际应用而开展的相关理论和关键技术的研究.控制体系结构是其中很重要的一个研究内容,也是今后进一步开展研究工作的基础.考虑到机器鱼自主性和协作性的要求,本文给出了多仿生机器鱼群体和单体控制体系结构,并重点讨论了单体控制体系结构.该体系结构是混合分层的,具有较好的开放性,便于功能的扩展.
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| 关 键 词： | 仿生机器鱼 群体结构 单体结构 |
| 收稿时间： | 2002-01-10 |
| 修稿时间： | 2002-07-12 |
Research on Group Architecture and Control Architecture of Multiple Bionic Robot Fishes |
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| Authors: | Chen Erkui Yu Junzhi Wang Shuo Tan Min |
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| Institution: | 1. College of Information and Electrics, China University of Mining and Technology, Xuzhou 221008, China;
2. Lab. for Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China |
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| Abstract: | The research on cooperation and control of multiple bionic robot fishes is aimed at the related theory and the key technology for using them in underwater operation, oceanic exploration, and military detection. Control architecture is one of the important research points as well as the basis for further work. Considering the need of autonomy and cooperation of robot fish, presents control architecture for both group and single robot fish. More importance is attached to single robot fish control architecture which is hybrid and layered. It has the advantage of open-endedness, which is conducive to functional expansion. |
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| Keywords: | bionic robot fish group architecture control architecture |
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