The Research And Optimization Of Water Bionic Robot Simulation Control Platform

Oceans,which account for 3/4 of Earth's total area,are rich in resources.Along with economic development,human society is bound to become increasingly dependent on the oceans.With the exploration and development of marine resources,requirements for underwater exploration and carriers are also getting higher and higher,which promotes the further development of bionic robots in water,and gives rise to underwater robot propulsion system that simulate propulsion principles of fish swimming.At present,researches on bionic robot fish mainly focus on the analysis of its motion mechanism and mechanical structure.Since MRDS robot platform has been launched only recently,there are many gaps and unknown areas in domestic and foreign researches,and a large number of enterprise-level applications are still under wraps,thereby limiting the platform's extensive application in the field of industrial robots.This paper successfully applies MRDS control platform and dynamic programming into the robot fish path control,and achieves good effect.Firstly,the paper introduces the research background of the subject,analyzes the status quo of research at home and abroad,and presents main research work.Then,the paper introduces the key technologies of MRDS simulation platform,including,the MRDS-based multithreading library can easily handle multi-sensor;software control problems of multi-actuator;MRDS-based real-time physics engine can easily carry out real-time communication.Later on,the paper introduces the main frame design of the control platform of underwater bionic robot fish,which uses the Client/server and the simulation mode which is based on the combination of centralized and distributed modes.The server side provides environment model to carry out global control;the client side runs robotic fish program and multi-robot fish coordination program.Each of the robot fishes is an independently-controlled intelligent agent that simulates fish swimming.The experiment results show that the method is effective.According to characteristics of robot fish,the research conducts path planning for it and constructs the corresponding speed and direction of robot fish on the basis of the optimization of certain path planning algorithms.Then it issues appropriate commands to the robot fishes,and controls them through computer.This method is proved to be effective through the experiment on robot fish control system.The design,simulation process and the results of this paper reflect the focuses and application characteristics of Bionic Robot simulation platform,and verify MRDS's feasibility as industrial robot simulation platform;the Bionic robot and robot kit-based co-simulation,has certain referential values for multithreading simulation,algorithm determination,and system design optimization.