Numerical Simulation and Analysis of Fish-Like Robots Swarm
Numerical Simulation and Analysis of Fish-Like Robots Swarm
复制标题
类鱼机器人群的数值模拟与分析
DOI：
10.3390/app9081652
复制
发表时间：
2019-04-02
影响因子：
2.7
通讯作者：
Chen, Xucan
中科院分区：
文献类型：
--
作者：
Li, Shuman;Li, Chao;Chen, Xucan
仿鱼机器人是水下机器人研究的一个重要分支。目前，对仿鱼机器人的研究大多集中在单个机器人的机构行为上，也有一些研究关注了水环境对机器人群体的影响，但对仿鱼机器人群体的效率还没有得出统一的结论。本文对鱼形机器人群体进行了数值模拟研究。四种不同的队形，包括串列、方阵、菱形和矩形，通过改变鱼之间的间距来进行。结果表明，在较小的间距下，后部鱼体可以获得比前部鱼体大的尾迹，但侧部鱼体的侧向功率损失较大。相反，当间距较大时，前后鱼产生的尾流和压力都变小。在鱼群的平均游动效率方面，我们发现当鱼群间距小于1.25时，L(L为鱼体长度)是串列种群的最佳选择。当间距为1.25时，串联群、菱形群和矩形群具有相似的效率。当井距大于1.2 5 L时，矩形群比其他地层更有效。这一发现将为控制类似鱼的机器人群提供重要的指导。
Artificial fish-like robot is an important branch of underwater robot research. At present, most of fish-like robot research focuses on single robot mechanism behavior, some research pays attention to the influence of the hydro-environment on robot crowds but does not reach a unified conclusion on the efficiency of fish-like robots swarm. In this work, the fish-like robots swarm is studied by numerical simulation. Four different formations, including the tandem, the phalanx, the diamond, and the rectangle are conducted by changing the spacing between fishes. The results show that at close spacing, the fish in the back can obtain a large wake from the front fish, but suffers large lateral power loss from the lateral fish. On the contrary, when the spacing is large, both the wake and pressure caused by the front and side fishes become small. In terms of the average swimming efficiency of fish swarms, we find that when the fish spacing is less than 1.25 L (L is the length of the fish body), the tandem swarm is the best choice. When the spacing is 1.25 L , the tandem, diamond and rectangle swarms have similar efficiency. When the spacing is larger than 1.25 L , the rectangle swarm is more efficient than other formations. The findings will provide significant guidance for the control of fish-like robots swarm.