基于模糊逻辑和几何学的机器鱼顶球路径规划
内容摘要：
针对人工势场法及流场法的缺点，将模糊逻辑与几何学路径规划方法相结合，提出一种新的机器鱼顶球路径规划方法。利用几何方法规划机器鱼的运动轨迹，采用模糊规则产生机器鱼的方向控制指令，使得机器鱼能够沿期望轨迹运动，并在机器鱼平台上进行了验证。结果表明，该方法是有效的，能使机器鱼的位姿始终处于最佳的顶球状态。
关键词：
机器鱼；模糊逻辑；几何学；路径规划
中图分类号：TP249; O18 文献标识码：A
Abstract: Considering the drawbacks of artificial potential field and the flow field methods, this paper presents a new method for robotic fish path planning in ball-pushing based on the geometry path planning method and the fuzzy logic. In our scheme, geometrical method is first used to plan the way of robotic fish. Then, fuzzy rule is employed to decide the direction of robotic fish by which drive the robotic fish moving along the desired trajectory. The proposed method has been verified on the robotic fish platform. The result shows that this method is effective and can make the robotic fish having the best pose to push the ball.
Keywords: robotic fish; fuzzy logic; geometry; path planning
