一致性方法的多仿生机器鱼编队对齐行为

针对多仿生机器鱼编队中的对齐行为,利用一致性的方法,提出一种新颖的机器鱼编队控制方法。设定机器鱼群体的一致性协议,模拟一定的群体智能、群体行为,通过机器鱼之间的局部信息交流,群体方向最终达到一致。在机器鱼平台上分别对信息拓扑为无向图和有向图的情况进行了一致性实验验证。实验的初始条件是机器鱼个体的朝向和各自运动方向随机,实验的最后结果两种情况下机器鱼群体方向均达到了一致。实验结果表明,该方法是有效的,实现了编队的对齐行为。

Consensus-based method for formation alignment behavior of multi-robotic fish

This paper presents an attempt to address the alignment behavior of multi-robotic fish formation by proposing a novel controlling method for multi-robotic fish formation,depending on consensus protocol.The method consists of setting up the consensus of agreement of robotic fish group and simulating certain group intelligence and group activities,resulting in an eventual agreement in robotic fish group directions.The paper describes consensus experiments respectively on undirected graph and directed graph of information topology on the platform of robotic fish.The initial condition is such that the directions of each individual robotic fish and their respective movement are random,with the resultant consistency in the two circumstances robotic fish group directions,as shown by the final experiment.The method proves effective and thus enables the formation alignment behavior.