基于模糊控制的仿生机器鱼避障算法
内容摘要：
在具有复杂性与不确定性的水环境下，针对无法建立精确的水下机器人控制数学模型问题，提出基于模糊控制的仿生机器鱼避障算法。将视线导航原理与模糊控制思想相结合，进行水下机器人路径规划。通过专家经验，设计一个模糊控制器，实时调整水下机器人的运动方向，并通过仿真实验验证该算法的有效性。仿真及实验结果表明：该算法能实时、稳定地提供水下机器人的运动路径，有效躲避障碍物，安全达到目标点。
关键词：
仿生机器鱼；视线导航；模糊控制；避障
中图分类号：TP249 文献标志码：A
Abstract: As the environment of underwater is complex and uncertain, it is hard to found exact mathematical model to control autonomous underwater vehicles (AUVs). Fuzzy control is combined with line of sight in this paper for AUV. Based on fuzzy control of obstacle avoidance for bionic robot fish is proposed and this algorithm provide an important basis for the path planning for AUVs. Through expert knowledge and experience, a fuzzy controller is utilized to adjust the moving direction for an AUV in order to make the AUV avoid the obstacle and then reach the goal securely. Results show by simulation and experiment that this algorithm is effective and feasible for the path planning for AUVs.
Keywords: bionic robot fish; line of sight guidance; fuzzy control; obstacle avoidance
