The Research Of Locomotion Modal And Game Strategy Of Robot-Fish

Two thirds of the earth’s surface is covered with broad ocean, the development ofocean resources to become an important goal in human future. As a branch of the waterpropulsion research study, Bionic robot-fish has caused more and more interest in thescientific and technical workers at home and abroad. The bionic robot-fish have a wideapplication prospect in Marine environment resources exploration and development,underwater archaeology, underwater environment military technology and so on field.With the rapid growth of the Marine development requirements and all kinds of newtechnology, new material appears, make bionic machine technology which adapt to allthe underwater environment had been rapid development.However it needs quite a lot of research funds in entity robot-fish research anddevelopment, it will seriously hampering the pace of technology research when lack ofresearch grant. Develop appropriate Robot-fish simulation system can reduce entityrobot-fish related field cost and be the ideal platform which test comprehensivetechnology in bionic robot-fish, is a important way to accelerate the development ofrobotic fish technology.The robot-fish water polo matches in order to promote technology development inrobotic fish as a main goal, and at the same time, develop bionic robot-fish to thepopularization and the school education knowledge, can lead more students participate inbionic robot technology development efforts.Intelligent control laboratory of Beijing University is responsible for thedevelopment of URWPGSim2D2.0simulation system, I was fortunate to participate inthe simulation system development work, in one year and a half of the time, launched abionic robot-fish technology research, and completed the design and implementation ofmultiple modules. Major work done as follows:(1) The original URWPGSim2D1.0simulation system research, understand thesystem operation mechanism, the underlying structure, human-machine interactiondesign. Research system problems, and ready to the development of2.0version.(2) Design and implement shapes of fish tail each joint; According to the fish wavetheory, designed and realized the motion of fish, fish swimming form more apt to fishswimming natural form.(3) Design and implement the12meters relay with a ball event. The project usingan extension project interface offered by the simulation system, initialized the site ofeach object in the field, and realized the two robot-fish run with the ball relay alternate finished four one-way mission game environment.(4) Design and implement the Pose2P module and Pose2Pose module. As a basicsupport module for all games strategy writing, the two modules affect the result of agame in a certain degree. For Pose2P module, I used two different design ideas finished it,so the efficiency of this module had be further improved. Based on the dynamic artificialpotential field method, design and realize the Pose2Pose module, and achieved goodeffect.