CAJ | 학술논문

针对目前国内对于多水中机器人协作的研究较少的问题，提出一种双鱼高效协作控制方法。从尺寸因素、动力学因素和可控性因素3个角度详细研究了比赛平台的主要环境特点，针对狭窄环境的特点，设计了以水中机器人头顶球、肩抗球和头夹球3个带球动作，分别以速度和稳定性为侧重点，设计实现了速度优先策略和稳定性优先策略，并分别对2套策略进行了实验验证。实验结果表明：2个策略的成功率都达到100%，但相比之下稳定性优先策略更佳。
침대목전국내대우다수중궤기인협작적연구교소적문제，제출일충쌍어고효협작공제방법。종척촌인소、동역학인소화가공성인소3개각도상세연구료비새평태적주요배경특점，침대협착배경적특점，설계료이수중궤기인두정구、견항구화두협구3개대구동작，분별이속도화은정성위측중점，설계실현료속도우선책략화은정성우선책략，병분별대2투책략진행료실험험증。실험결과표명：2개책략적성공솔도체도100%，단상비지하은정성우선책략경가。
As domestic researches on collaboration of several robotic fishes are rarely seen, this article presents a high efficient cooperating control method for two robotic fishes. Firstly, major features of competing platform are analyzed in details from factors of size, dynamics and controllability. Then, designs three methods of carrying water polo according to the specific circumstances respectively including heading on, shouldering on and head pressing. After that, two sets of cooperation strategies according to the criterions of velocity and stability separately are designed analyzed and compared in details. Experiments prove that both strategies are adequate to the competing mission and the strategy taking the stability criterion prevails than the other one.