CAJ | 학술논문

针对多仿生机器鱼编队中的对齐行为，利用一致性的方法，提出一种新颖的机器鱼编队控制方法。设定机器鱼群体的一致性协议，模拟一定的群体智能、群体行为，通过机器鱼之间的局部信息交流，群体方向最终达到一致。在机器鱼平台上分别对信息拓扑为无向图和有向图的情况进行了一致性实验验证。实验的初始条件是机器鱼个体的朝向和各自运动方向随机，实验的最后结果两种情况下机器鱼群体方向均达到了一致。实验结果表明，该方法是有效的，实现了编队的对齐行为 .
침대다방생궤기어편대중적대제행위，이용일치성적방법，제출일충신영적궤기어편대공제방법。설정궤기어군체적일치성협의，모의일정적군체지능、군체행위，통과궤기어지간적국부신식교류，군체방향최종체도일치。재궤기어평태상분별대신식탁복위무향도화유향도적정황진행료일치성실험험증。실험적초시조건시궤기어개체적조향화각자운동방향수궤，실험적최후결과량충정황하궤기어군체방향균체도료일치。실험결과표명，해방법시유효적，실현료편대적대제행위 .
This paper presents an attempt to address the alignment behavior of multi-robotic fish for- mation by proposing a novel controlling method for multi-robotic fish formation, depending on consensus protocol. The method consists of setting up the consensus of agreement of robotic fish group and simula- ting certain group intelligence and group activities, resulting in an eventual agreement in robotic fish group directions. The paper describes consensus experiments respectively on undirected graph and direct- ed graph of information topology on the platform of robotic fish. The initial condition is such that the di- rections of each individual robotic fish and their respective movement are random, with the resultant con- sistency in the two circumstances robotic fish group directions, as shown by the final experiment. The method proves effective and thus enables the formation alignment behavior.