An Obstacle Avoidance Control Method And Realization For Bionic Robotic Fish Based On BK-products Algorithm

In this paper,we studied its autonomous obstacle avoidance function on platform of self-developed bionic robotic fish.This paper focuses on three parts:the bionic machine fish system overall design,the fuzzy control strategy and the product of BK relationship,and how to realize the autonomous obstacle avoidance of bionic robotic fish.In the overall design of the system,the paper introduced the hardware and software structure of the fish and the mainly sensors,analysis of the navigation process how the fish to adjust the caudal fin and the reason why using fuzzy control concept.The working mechanism of single beam sonar for environmental obstacle detection is analyzed in detail,and its working principle in collecting environmental information is explained.In introducing the relationship between fuzzy control strategy and BK product,the basic definition of the two was introduced,and the relationship between them were been introduced.Due to the inability to construct the precise mathematical model of the movement of the bionic robotic fish,this paper used the fuzzy control strategy to design the obstacle avoidance control of the robotic fish.This paper divided the sonar detection range into the fuzzy control domain,divided it into multiple sub-parts,and calculates the fuzzy relation between each part and the environment attribute as the candidate course of the robotic fish.The fuzzy calculation was carried out by using BK triangle sub-product.In this paper,two simulation examples are given to illustrate the specific implementation process of the algorithm,how to choose the heading and the inheritance course of the bionic robotic.In order to verify the performance of the heuristic algorithm proposed in this paper,simulation tests and pool tests are set up respectively.In the phase of simulation test assuming that the starting point for navigation is S.Sonar detection The length of sonar detection is 2m,the angle of sonar detection is 60°.In the same parameters,four scenarios were established:no obstacle scene,single obstacle scene,double obstacle field and "U" shape angle obstacle scene,by analyzing the voyage process and the partial magnification effect of the bionic fish,the fuzzy relation strategy based on BK triangle sub-product is proposed,which can safely and effectively realize the autonomous obstacle avoidance control of bionic fish.In order to observe the actual navigation effect,we were set pool test experiment,in the volume for 10mx35m actual pool,also set up four kinds of navigation scene:free sailing,single obstacle sailing,double obstacle sailing and "U" shape angle obstruction sailing.Observing bionic fish whether can safely and effectively avoid obstacles.Through the simulation experiment and the pool experiment,the heuristic obstacle avoidance strategy based on the fuzzy relation of BK triangle sub-product can be obtained,which can effectively realize the autonomous obstacle avoidance control of bionic fish.