基于序列图像处理法的机器鱼转向机动性能研究

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韩珍, 颜钦, 张世武, 杨杰. 基于序列图像处理法的机器鱼转向机动性能研究[J]. 机器人, 2010, 32(5): 586-591.. HAN Zhen, YAN Qin, ZHANG Shiwu, YANG Jie. Study on Turning Maneuverability of Robotic Fish with Sequential Image Processing. ROBOT, 2010, 32(5): 586-591..

摘要基于序列图像处理法，对机器鱼的转向性能进行了初步研究．利用高速摄像机记录机器鱼运动过程，对游动序列图像进行处埋，提取机器鱼体干曲线，获取机器鱼转向运动中角度、角速度、角加速度的动态特性．根据实验结果，给出了机器鱼C形转向运动的3个阶段的运动特征，并对理论值和实验测定值之间的差异进行分析．同时，对静止和运动两种C形转向运动进行比较，分析了影响C形转向效果的因素：初始动能以及保持阶段角度大小，在此基础上，给出了提高机器鱼转向性能的方法．

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	韩珍
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关键词 ：机器鱼, 序列图像处理, C形转向

Abstract：An experimental study on robotic fish's turning maneuverability with the sequential image processing is conducted. First,the robotic fish's motion process is recorded with a high-speed camera.Then,by processing the sequential swimming images,the backbone curves of robotic fish is extracted,and the dynamic characteristics of turning angle,angular velocity,and the angular acceleration are obtained.According to the experimental result,the movement features of three phase stages of C-shape-turn are presented,and the differences between theoretical and practical motion parameters are analyzed. The static and dynamic C-shape-turn movements are compared,and the influencing factors are analyzed,including the initial kinetic energy and the angle in the holding phase.On this basis,several effective ways to improve the robotic fish's turning maneuverability are proposed.

Key words： robotic fish sequential image processing C-shape-turn

收稿日期: 2010-01-12 录用日期: 2010-05-26

TP24

基金资助:国家自然科学基金资助项目（50975270）

通讯作者: 张世武 E-mail: swzhang@mail.ustc.edu.cn

作者简介: 韩珍（1987- ），男，硕士生．研究领域：仿生机器鱼．
颜钦（1983- ），男，博士生．研究领域：仿生机器鱼，3维鱼鳍，形状记忆合金．
张世武（1974- ），男，博士，副教授．研究领域：机器人学，智能控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/586

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