摘要
针对水下机器人面临着感知周围水环境信息的困难的问题,在自主式机器鱼上设计一种人工侧线系统。首先介绍了自主式机器鱼及其人工侧线系统,其次通过改变中枢模式发生器(central pattern generator,CPG)的运动控制参数决定机器鱼的游动模态,最后通过人工侧线系统得到机器鱼在向前、左转右转和上升下潜时的压强变化。分析结果表明:该套人工侧线系统设计能有效的感知水流信息,为水下机器人提供了一种感知游动模态的新办法。
Aiming at underwater robots face difficult problem of sensing the surrounding hydrodynamic environment, this article design the artificial lateral line system for the robotic fish. We first introduce the robotic fish and its artificial lateral line system, then the robotic fish＇ swimming modes are decided by changing motion control parameters of central pattern generator, finally we record the pressure changes by the artificial lateral line system when the robotic fish executes different swimming modes（forward, turn left, turn right, rise, dive）. Analysis results prove that the artificial lateral line system has the ability of sensing the flow information, and become a new way of sensing the swimming mode for underwater robots.
出处
《兵工自动化》
2015年第5期88-92,共5页
Ordnance Industry Automation
基金
广西教育厅重点科研项目(ZD2014073)
关键词
人工侧线系统
机器鱼
游动模态感知
artificial lateral line system
robotic fish
swimming mode sensing
