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A Behavior Control Method of Single Robot Fish Based on 3D Fuzzy Processing

A control method and robotic fish technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems such as the difficulty of turning method and the complex algorithm of heading ball motion planning, and achieve good real-time performance and data update The effect of increasing speed and improving sports performance

Active Publication Date: 2018-11-16
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to overcome the technical defects that the existing single robot fish heading motion planning algorithm is relatively complex and the turning method is difficult to realize, and proposes a single robot fish behavior control method based on three-dimensional fuzzy processing

Method used

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  • A Behavior Control Method of Single Robot Fish Based on 3D Fuzzy Processing
  • A Behavior Control Method of Single Robot Fish Based on 3D Fuzzy Processing
  • A Behavior Control Method of Single Robot Fish Based on 3D Fuzzy Processing

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Embodiment 1

[0071] This embodiment describes the division of different pool areas and the setting of heading points in corresponding areas during the specific implementation of the present invention. figure 1 It is a method for controlling the behavior of a single robot fish based on three-dimensional fuzzy processing in the present invention. In step 1, different pool areas are divided and corresponding area heading points are set. figure 1 Among them, Oxy is a rectangular coordinate system.

[0072] From figure 1 It can be seen from the figure that the pool area is divided into Area 1, Area 2, Area 3, and Area 4; each area has a ball, and a black dot on the ball is the top ball point. The top points set in different areas The ball point coordinates, area 1 contains the rightward heading point, and its coordinates are (b_pt.x-r, b_pt.y); area 2 contains the downward heading point, and its coordinates are (b_pt.x, b_pt.y-r); Area 3 contains the upward heading point, whose coordinates ar...

Embodiment 2

[0074] This embodiment describes in detail the overall flow of a single robot fish behavior control method based on three-dimensional fuzzy processing.

[0075] figure 2 It is a design flow chart of three-dimensional fuzzy processing of a single robot fish behavior control method based on three-dimensional fuzzy processing in the present invention.

[0076] From figure 2 It can be seen that the specific implementation of the present invention comprises the following steps:

[0077] Step A. Initialization;

[0078] Initialize the sampling time to 1s; such as figure 1 As shown, the pool area is divided into 4 areas; the coordinates of the small ball are (103cm, 47cm), located in area 1, and the coordinates of the top ball point are (101cm, 47cm);

[0079] Step B. Information update calculation;

[0080] Among them, the information update parameters are l and θ e ;

[0081] Step C. Determine whether |θ e |<δθ, and perform corresponding operations according to the judgme...

Embodiment 3

[0096] This embodiment elaborates in detail the method for planning the robot fish's ball-heading behavior for different regions during the specific implementation of the present invention, which specifically corresponds to the robot fish's ball-heading behavior planning in step 5.1 of the method proposed in the present invention.

[0097] The goal of the ball-heading behavior planning is to plan the appropriate movement behavior for the robot fish to guide the robot fish to head the ball to the target point. Corresponding to various regional conditions, the corresponding behavior design makes the robot fish choose the corresponding behavior to move to the target point in different regions. The specific process is as follows:

[0098] 1) BPR behavior: corresponds to the behavior of the offensive zone. Effective offensive situation: if image 3 As shown in (a), when the abscissa of the robot fish center coordinate f_CenterPt is smaller than the abscissa of the water polo coord...

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Abstract

The invention relates to a single robotic fish behavioral control strategy based on a three-dimensional fuzzy PTP algorithm and belongs to the field of intelligent control technology. The strategy relates to robotic fish ball heading movements, provides a PTP algorithm which faces to division and improvement for ball heading points in different regions, designs behavioral strategies corresponding to different regions and provides a basic behavioral sequence in robotic fish ball heading process. A control algorithm which faces to different regions is adopted to realize a simple task which is to let a robotic fish to head a ball to reach a target point; pool regions are divided specifically according to ball heading points, and ball heading movement behaviors of a robotic fish in corresponding regions are designed. According to the invention, the strategy is used for the robotic fish in complex underwater environments with barriers, noise and the like; three-dimensional fuzzy processing is performed on speed, angle and sampling time, the mode turns to control mode, it is convenient to directly use the robotic fish control mode, algorithm flow is greatly simplified, algorithm complexity is reduced, and the strategy also has advantages of fast data update speed, high precision and good real-time capability.

Description

technical field [0001] The invention relates to a single robot fish behavior control method based on three-dimensional fuzzy processing, which belongs to the technical field of intelligent control. Background technique [0002] The problem of robot motion planning is a problem that any robot researcher will not ignore. Motion planning plays an important role in the efficient movement of robots. However, compared with land robots, underwater robot fish motion planning has special difficulties: [0003] (1) The difficulty brought about by the special kinematics model of the robotic fish, that is, due to the inertial effect, the robotic fish cannot stop immediately in the water, or retreat freely like a land robot. Furthermore, it is still not possible to establish an accurate dynamic model for the movement of the robotic fish, so the response of the robotic fish can only be roughly predicted after the control command is issued; [0004] (2) Compared with the terrestrial envi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭树理韩丽娜王稀宾何昆仑袁振兵郑凯崔伟群骆雷鸣王春喜黄剑武李铁岭郭芙苏
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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