Bionic robotic fish motion control method, device and equipment and storable medium

A motion control, robotic fish technology, applied in non-electric variable control, height or depth control, control/regulation systems, etc., can solve the problems of difficult bionic robotic fish prediction and control, difficulty in parameter selection, and unstable output, etc. Achieve the effect of reducing the difficulty of parameter selection, achieving stable output, and short calculation time

Active Publication Date: 2020-05-15
NANJING INST OF TECH
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Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a motion control method for bionic robotic fish, aiming to solve the common problems of time-consuming, unstable output and difficulty in parameter selection in existing motion control methods for bionic robotic fish, and it is difficult to realize the control of bionic robotic fish. Technical Problems in Prediction and Control of Robotic Fish Movement

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  • Bionic robotic fish motion control method, device and equipment and storable medium
  • Bionic robotic fish motion control method, device and equipment and storable medium
  • Bionic robotic fish motion control method, device and equipment and storable medium

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Embodiment Construction

[0033] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0034] Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a" and "the" are also intended to include plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0035] It should be understood that although the terms f...

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Abstract

The invention is suitable for the technical field of artificial intelligence, and provides a bionic robotic fish motion control method, device and equipment and a storable medium, and the method comprises the steps: constructing a kinematics model of a bionic robotic fish based on a central pattern generator; optimizing parameters of the kinematic model through a particle swarm optimization algorithm to obtain an optimized central pattern generator structure; and generating a joint angle according to the optimized central pattern generator structure so as to control the movement of the bionicrobotic fish. According to the optimized central pattern generator structure, stable output can be realized. In addition, the joint angle generated according to the optimized central pattern generatorstructure is short in time consumption and can be executed in real time. In addition, through computer simulation and bionic robotic fish actual test results, it is verified that the performance of the central pattern generator structure optimized through the particle swarm optimization algorithm is greatly optimized.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence, and in particular relates to a motion control method, device, equipment and a readable storage medium of a bionic robotic fish. Background technique [0002] After long-term evolution, fish have an efficient swimming method. By studying the movement of real fish, it is found that its efficiency is higher than that of the propeller drive method. Imitating the movement of fish can not only improve the efficiency of underwater bionic robot fish, but also through the movement of fish body, Using the generated eddy current energy to reduce the power consumption of the robotic fish, increase the speed of the robotic fish, and achieve long-duration, low-disturbance underwater movement. Many scholars at home and abroad have done a lot of research in this area. [0003] At present, there are two main control methods for bionic robot fish. One is to build a model from real fish movement to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692Y02A40/81
Inventor 陈国军陈巍
Owner NANJING INST OF TECH
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