CAJ | 학술논문

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。
위가쾌다방생궤기어군체유동적일치성수렴속도，채용일충기우이계린거망락탁복결구적다궤기어공제모형래묘술궤기어지간적신식교환방식。위역우분석묘술，용도론개념진행정의，장편대중적궤기어구성“다궤기어대형도”。탐토군체궤기어계통일치성문제，이용수학모형진행일치성분석，병재수중궤기어2D방진평태상진행방진분석。방진결과표명，기우이계린거망락탁복적다궤기어유량호적일치성화쾌속적수렴성。
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.