基于二阶邻居网络拓扑的多机器鱼一致性研究
内容摘要：
为加快多仿生机器鱼群体游动的一致性收敛速度，采用一种基于二阶邻居网络拓扑结构的多机器鱼控制
模型来描述机器鱼之间的信息交换方式。为易于分析描述，用图论概念进行定义，将编队中的机器鱼构成"多机器
鱼队形图"。探讨群体机器鱼系统一致性问题，利用数学模型进行一致性分析，并在水中机器鱼 2D 仿真平台上进行
仿真分析。仿真结果表明，基于二阶邻居网络拓扑的多机器鱼有良好的一致性和快速的收敛性。
关键词：
多机器鱼；一致性；二阶邻居网络拓扑；快速收敛性；2D 仿真平台
中图分类号：TP24 文献标志码：A
Abstract: To speed up the convergence rate, a multiple robot fish topology model was presented to show the
transmission of the information which is based on the second-order neighbors' information. To simplify the analysis, the concept of graph theory is used, then a "robotic fish formation map" is formed. What's more, a mathematical model is constructed to analysis the consensus and put up simulated analysis on underwater robot fish 2D platform. Finally,simulations are provided to demonstrate the consensus of multi-robot fish which is based on the second-order neighbors' information, and its faster convergence rate.
Key words: multiple robot fish; consensus; second-order neighbors' information network; fast consensus speed; 2D
simulation platform
