Pectoral fin flapping type robotic fish formation control method under directed fixed communication topology

A technology of communication topology and control method, which is applied in the control field of bionic robotic fish, can solve the problem of no effective formation control method for the collaborative control of bionic robotic fish groups, and achieve good formation completion, good stability, and reduced load. Effect

Pending Publication Date: 2022-07-22
BEIHANG UNIV
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Problems solved by technology

[0007] Based on all the above references, it can be seen that most of the existing methods focus on the collaborative control of multi-autonomous underwater robots propelled by propellers, but there is no effective and feasible formation control method for the collaborative control of bionic robot fish groups.

Method used

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  • Pectoral fin flapping type robotic fish formation control method under directed fixed communication topology
  • Pectoral fin flapping type robotic fish formation control method under directed fixed communication topology
  • Pectoral fin flapping type robotic fish formation control method under directed fixed communication topology

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Embodiment

[0236] The following is a simulation analysis of the formation control of the pectoral fin flapping robotic fish during the movement process realized by the above method. The virtual navigator process is as follows:

[0237] The desired formation of the robotic fish is set relative to the virtual leader with the following values:

[0238]

[0239] Among them, the last row in the matrix h indicates that the virtual leader has no position error with itself.

[0240] The initial position selection is:

[0241]

[0242] according to image 3 The Laplace matrix corresponding to the designed communication action topology diagram is:

[0243]

[0244] The simulation results are expressed as:

[0245] During the simulation process, the position and attitude change process of the multi-pectoral fin flapping robotic fish group is as follows: Figure 7 a shows the location distribution and communication topology of the multi-pectoral-fin flapping robotic fish population at ...

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Abstract

The invention discloses a pectoral fin flapping type robotic fish formation control method under directed fixed communication topology, and belongs to the technical field of bionic robotic fish control. The method comprises the following steps: firstly, constructing a multi-pectoral fin flapping type robotic fish group, and designing a topological relation graph; then, based on the asymmetry characteristics and the motion relation of pectoral fins and tails of the robotic fishes, a kinematic model of a single robotic fish is established, a topological network is constructed for each robotic fish in a nearest neighbor connection mode, and the coupling relation between CPG units of each robotic fish is determined; and a fuzzy closed-loop control strategy is adopted to realize quantitative control of the course and the speed of the robotic fish. And finally, a virtual leader-follower formation tracking algorithm is utilized to design a formation tracking control protocol of the robotic fish group under a directed fixed topology condition based on the topological relation graph, and the formation tracking control protocol is combined with a kinematic model of a single robotic fish to realize formation control in the motion process of the robotic fish group. According to the method, the expected robotic fish formation can be quickly formed, and the formation stability is high.

Description

technical field [0001] The invention belongs to the technical field of control of bionic robotic fish, and in particular relates to a formation control method of a pectoral fin flapping robotic fish under a directional fixed communication topology, which realizes coordinated control of a pectoral fin flapping robotic fish group. Background technique [0002] By carrying various types of sensors, underwater robots can complete tasks such as search, search and rescue, monitoring, resource exploration and mine detection in the underwater environment, and play an important role in the civilian and military fields. With the development of underwater robot technology, the demand for underwater robots for various tasks is getting bigger and higher. A single underwater robot has small working range, single task execution, low efficiency and poor fault tolerance, etc. question. [0003] In order to solve the above problems, the cooperative operation of multiple underwater robots has...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 蔡月日陈林毕树生李大寨
Owner BEIHANG UNIV
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