叶秀芬,关红玲,张哲会,杨博文(哈尔滨工程大学自动化学院，哈尔滨 150001;哈尔滨工程大学信息与通信工程学院，哈尔滨 150001)
基于VC++6.0开发环境和OpenGL（open graphics library）国际图形标准，在Windows系统下开发了微型仿生机器鱼3维仿真系统。该系统可以降低用实体机器鱼进行机器鱼避障能力研究的成本和减少在研究过程中对实体机器鱼造成的损害。采用多边形建模的方法构建了虚拟微型仿生机器鱼模型，模拟了鱼类尾鳍的摆动。提出了一种模拟红外传感器探测障碍物的虚拟射线方法。并采用实时模糊决策算法设计了基于多传感器信息的复合模糊控制器，决策微型仿生机器鱼的避障行为。仿真实验表明，复合模糊控制器实时性好、效率高；无论是单个任意形状的障碍物还是多个连续障碍物，复合模糊控制器都能有效地引导仿生机器鱼避开障碍物，到达目标点。微型仿生机器鱼3维仿真系统为研究仿生机器鱼的自主避障能力提供了可靠、逼真、便利的平台。
3D simulation system of micro robotic fish for obstacle avoidance research
Ye Xiufen,Guan hongling,Zhang Zhehui,Yang Bowen()
A 3D simulation system of micro robotic fish was developed in windows operation system with VC++6.0 developing environment and OpenGL international graphic standard, in order to reduce the cost of obstacle avoidance research using real robotic fish and reduce the damage to the real robotic fish. A virtual robotic fish was built using polygon modeling method and the swing of fish tail was simulated. A virtual ray method which simulated infrared sensor detecting obstacles was proposed. Based on the information of multiple sensors, a composite fuzzy controller using real time fuzzy control algorithm was designed to decide the avoidance behavior of micro robotic fish. The simulation results demonstrate the composite fuzzy controller is of real-time and has high efficienly. Micro robotic fish was efficiently conducted by the composite fuzzy controller to avoid both single arbitrary shape obstacle and multiple continuous obstacles and achieved the targeting result. A reliable, realistic and convenient platform was provided for researching the autonomous obstacles avoidance capacity of micro robotic fish.