重庆大学学报Issue(6)：138-146,9.DOI:10.11835/j.issn.1000-582X.2015.06.019
仿生学习的机器鱼运动模式分析
Study on the fish robot locomotion based on biomimetic method
摘要
Abstract
Locomotion behavior modeling is a key and difficult problem in the research field of robotic fish.In this paper,a novel biomimetic learning approach is applied to the movement patterns generation of a multi-joint robotic fish.Firstly,the real fish behaviors are recorded by video system.By analyzing the recorded data,three basic swimming patterns,“cruise”,“cruise in turning”and “C sharp turn”,are extracted.Then the general internal model (GIM) is employed to learn the swimming patterns of carangiform fishes.Based on the approximation ability and the temporal-spatial scalabilities of GIM, robotic fish owns the capability of learning,modifying and regenerating the similar swimming patterns of the real fish.Finally,autonomous obstacle avoidance behavior of the robotic fish is realized by combining infrared sensors and obstacle avoidance algorithm.The experiment result verifies the validity of the proposed biomimetic learning approach.关键词
仿生学习/机器鱼/通用内部模型/避障Key words
biomimetic learning/robotic fish/general internal model/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
王进,蒋定立,邓欣,陈乔松,曾向璟,罗燕..仿生学习的机器鱼运动模式分析[J].重庆大学学报,2015,(6):138-146,9.基金项目
国家自然科学基金资助项目（61403054；61403053）；重庆市自然科学基金（cstc2014jctjA40022）；重庆教委科学技术研究项目（自然科学类）（KJ1400436）。Supported by National Science Foundation of China （61403054；61403053）， Chongqing Natural Science Foundation（cstc2014jcyjA4002），and the Science Foundation Project of CQ Education Commison under Grant （KJ1400436）． （）
