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提出了一种集成多个红外测距传感器,CMOS摄像头的仿生机器鱼,设计了仿生机器鱼的传感器网络,分析了仿生机器鱼在水面上与障碍物和目标物之间的几何关系。对漂移算法中的camshift算法进行了介绍,并把camshif算法运用到仿生机器鱼的视觉算法中。以模糊算法为基础设计了一种有效的路径规划控制算法。通过camshit算法与路径控制算法有效的结合,使机器鱼能够在水中自主躲避障碍物,并探测到目标物反馈信息。最后用试验验证了算法的有效性。
A bionic robot fish integrating infrared distance sensor and CMOS camera is proposed. The sensor network of bionic robot fish is designed. The geometrical relationship between bionic robot fish and obstacles and targets is analyzed. The camshift algorithm in drift algorithm is introduced, and the camshif algorithm is applied to the visual algorithm of bionic robot fish. Based on the fuzzy algorithm, an effective path planning control algorithm is designed. Through the effective combination of camshit algorithm and path control algorithm, the robot fish can avoid obstacle in the water and detect the target feedback information. Finally, the validity of the algorithm is verified by experiments.