仿生机器鱼三维避障仿真系统的研究与实现

摘要

为了降低研究实体机器鱼在探查高原湖泊过程中所造成的损害及成本，利用Visual C++开发环境和OpenGL图形库设计和实现了仿生机器鱼的三维避障仿真系统。该系统可以使用户直观感知机器鱼的实时运动状态，用户不仅可以控制机器鱼的起始、目标位置和起始角度而且可以从不同角度监测机器鱼的当前位置和避障路径。仿真结果表明该系统能够逼真地显示机器鱼在场景中的运动情况。%In order to reduce damage and cost caused by researching on the process in which the entity robotic fish ex⁃plores plateau lakes,the 3D obstacle avoidance simulation system of the simulation robotic fish was designed and implemented with the help of Visual C++ development environment and OpenGL graphics library. The system enables users to perceive the real⁃time motion state of the robotic fish intuitively. In this system,the users can not only control the start and target position and initial angle of the robotic fish,but also monitor the current position and obstacle avoidance path of the robotic fish from dif⁃ferent angles. The simulation result shows that this system can display the movement of the robotic fish in the scene exactly.