Appication of a mixed method in bio-fish path planning

摘要

To the Goal Nonreachable with Obstacles Nearby (GNRON) in the application of the bio-fish path planning based on artificial potential, this paper adopts a method which combines artificial potential field with fuzzy logic, and designs a fuzzy logic controller. When the bio-fish runs into trap situation, fuzzy control algorithm is switched to get the bio-fish out of the trap situation quickly and swim to the goal. With the method, the bio-fish achieved an obstacle avoidance experiment in global environment. The experimental results show the effectiveness of this method.