收稿日期: 2002-01-10
修回日期: 2002-07-12
网络出版日期: 2003-03-10
基金资助
国家863计划资助项目(2001AA422370)
Research on Group Architecture and Control Architecture of Multiple Bionic Robot Fishes
Received date: 2002-01-10
Revised date: 2002-07-12
Online published: 2003-03-10
陈尔奎 , 喻俊志 , 王硕 , 谭民 . 多仿生机器鱼群体及单体控制体系结构的研究[J]. 中国科学院大学学报, 2003 , 20(2) : 232 -237 . DOI: 10.7523/j.issn.2095-6134.2003.2.017
The research on cooperation and control of multiple bionic robot fishes is aimed at the related theory and the key technology for using them in underwater operation, oceanic exploration, and military detection. Control architecture is one of the important research points as well as the basis for further work. Considering the need of autonomy and cooperation of robot fish, presents control architecture for both group and single robot fish. More importance is attached to single robot fish control architecture which is hybrid and layered. It has the advantage of open-endedness, which is conducive to functional expansion.
Key words： bionic robot fish; group architecture; control architecture
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