基于分布式估计与模糊控制的多机器鱼编队控制

摘要

This paper proposed a distributed and hierarchical scheme for formation control of mul‐tiple robotic fish .Firstly ,each robotic fish takes consensus algorithm as a distributed data fusion modular to estimate the center of the formation ,and then calculate its desired position in the for‐mation at the next time .Such estimated results are the input variables of its path planning modu‐lar .Secondly ,each robotic fish tracking its desired position by employing the fuzzy controller of linear speed and angular speed in order to form and maintain formation .The proposed method separates the distributed estimation and the path planning and behavior of robotic fish ,such a property gives a new method for the cooperative control of multiple heterogeneous robotic fish . T he results of experiment show s the validity of the proposed method .%针对多仿生机器鱼编队控制问题，提出了一种分布式的分层控制方案。首先，各机器鱼以一致性算法为数据融合模块对编队中心位姿进行分布式估计，据此获得在编队中的期望位姿，作为路径规划模块的输入；其次，各机器鱼基于速度与方向模糊控制器，实时跟踪期望轨迹，形成和保持编队。所提方法实现了期望位置分布式估计与机器鱼个体路径规划的分离，为不同种类机器鱼的合作控制问题提供了新思路。实验结果表明了所提方法的有效性。