CN103093489A - Artificial fish analog system - Google Patents
Artificial fish analog system Download PDFInfo
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- CN103093489A CN103093489A CN2012105639173A CN201210563917A CN103093489A CN 103093489 A CN103093489 A CN 103093489A CN 2012105639173 A CN2012105639173 A CN 2012105639173A CN 201210563917 A CN201210563917 A CN 201210563917A CN 103093489 A CN103093489 A CN 103093489A
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Abstract
The invention discloses an artificial fish analog system which comprises a perception subsystem, a motive power subsystem and a behavior subsystem. The perception subsystem collects surrounding environment data to generate perception data and sends filtered perception data to the behavior subsystem. The behavior subsystem combines the surrounding environment data and life habits of fishes to synthesize and produce intention and formulate behavior paths of artificial fishes. The behavior subsystem inputs the control parameters of the behavior paths into the motive power subsystem, and the motive power subsystem controls the artificial fishes to produce corresponding actions. According to the artificial fish analog system, the appearance of the fishes is comparatively real, at the same time, three base points, namely, perception, intension and behavior, of artificial intelligence are combined organically, the artificial fishes can percept and judge environment automatically, implement corresponding reasonable behaviors, and have an influence to the environment, and the behaviors are based on physics, and therefore intelligent type individuals with strong autonomy are produced.
Description
Technical field
The present invention relates to a kind of middleware system of intelligent television, relate in particular to a kind of Artificial Fish simulation system.
Background technology
In the virtual deep-sea of being perched by various virtual fish, fish are by using muscle and fin is moved about freely, avoiding barrier, and shuttle back and forth between some pasture and water, coral reef and other fish.They can explore this virtual world freely with search of food.Prey acts on one's own, until they run into the predator, then takes immediately the escape action.Appear at a distance and work as a predator, the prey of similar kind forms the chance that group escapes to increase them.Near a group, the shoal of fish is fled for four times because of fear as the predator.Predator eat prey until chasing immediately of feasting to satiety begin.The fish of some kinds seems not, and prey perplexs.When they are hungry, can prey on planktonic organism.And when fish to breeding period, by carrying out distinctive chase and the spouse is sought in the ceremony of seeking a spouse.
Above animation in simulated world, it is very difficult requiring the authenticity on visual.In order to set up animation framework, to contain above-mentioned all complicated behavior patterns, and reduce artificial participation as far as possible, best bet is the Artificial Fish (Artificial Fishes) that uses global function.Artificial Fish refers to that a kind of independence is individual, and its appearance and complicated group's behavior be consistent with nature all.Prior art does not have implementation preferably, can't synthesize imperfectly physics, location, perception and behavior, and the true effect of simulation is relatively poor.
Therefore, be necessary to provide a kind of Artificial Fish simulation system to satisfy existing demand.
Summary of the invention
The object of the present invention is to provide a kind of Artificial Fish simulation system, described Artificial Fish appearance morphological Simulation degree is high, combines behavior, perception and driving three aspects:, becomes the intelligence with independence individual.
Therefore, the invention provides a kind of Artificial Fish simulation system, described Artificial Fish is arranged in the three-dimensional simulation world, described Artificial Fish simulation system comprises perception subsystem, power sub-system and behavior subsystem, and described perception subsystem gathers and passes to described behavior subsystem after surrounding environment generates perception data and filtration; Described behavior subsystem synthesizes the generation purpose with ambient data in conjunction with the life habit of fish, formulates the behavior path of Artificial Fish; Described behavior subsystem is controlled the control parameter input power subsystem in behavior path Artificial Fish by described power sub-system and is produced corresponding action.
Particularly, described perception subsystem comprises visually-perceptible device group and temperature sensor group, described temperature sensor is sampled to the temperature of the Environmental Water that is positioned at fish body center, described visually-perceptible device extracts the kind of information of color, size, distance and barrier from the virtual environment of 3D, near described visually-perceptible device can be known by inquiry barrier database barrier, know the instantaneous velocity of object on every side by the inquiry emulation mode simultaneously, the vision of described visually-perceptible device is 300 °.
Particularly, described power sub-system comprises dynamic model and some power controllers, and power controller is crossed the setting contraction of muscle and produced power.Described dynamic model is comprised of 23 end points and 91 lines, with the major impetus of fin as Artificial Fish motion, uses the muscle at the rear portion of fish body both sides to move about, and uses anterior muscle to turn to.Described some power controllers comprise the controller that moves about, left-hand rotation controller and right-hand rotation controller, and the described controller that moves about is controlled Artificial Fish and moved about forward, and described left-hand rotation controller and right-hand rotation controller are controlled respectively and turned right.
Particularly, described behavior subsystem comprises purpose generator and behavior Path generation device, described purpose generator produces purpose according to the life habit of fish, and the perception data after the purpose combined filtering that described behavior Path generation device generates according to the purpose generator is synthetic makes the behavior path.
Compared with prior art, the present invention program has showed the phantom frame to some actions of Artificial Fish model.These actions can produce by minimum man-machine interactively compellent single or combination action.Organically combined the fundamental point of perception, purpose, behavior three artificial intelligence, simultaneously in behavior with physics as the basis, thereby produced the extremely strong intelligent individuality of independence, can and carry out corresponding rational behavior to the autonomous perception of environment, judgement, and environment is exerted an influence, simulated person's work fish appearance form is comparatively true, becomes the intelligence with independence individual.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the Artificial Fish simulation system of the embodiment of the present invention;
Fig. 2 is the structural representation of dynamic model of the Artificial Fish of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making all other embodiment that obtain under the creative work prerequisite.
With reference to figure 1, the invention provides a kind of Artificial Fish simulation system, comprise power sub-system, perception subsystem and behavior subsystem, three sub-systems cooperate mutually, jointly complete the simulation of the exercises of Artificial Fish.Described perception subsystem gathers surrounding environment generation perception data such as the collision prevention purpose needs with reference to obstacle information on every side, and passes to described behavior subsystem after filtering; Described behavior subsystem synthesizes the generation purpose with ambient data in conjunction with the life habit of fish, formulates the behavior path of Artificial Fish; Described behavior subsystem is controlled the control parameter input power subsystem in behavior path Artificial Fish by described power sub-system and is produced corresponding action.
The perceptron of perception subsystem by the operation of a series of moment provides about the perception data of dynamic environment on every side.By perception mechanism, make Artificial Fish can train take task as target its perceptron, according to the needs in focus and behavior path, the perception data that filtering is unnecessary.
Particularly, described perception subsystem comprises visually-perceptible device group and temperature sensor group, the temperature sampling of temperature sensor to the Environmental Water that is positioned at fish body center.The visually-perceptible device is more complicated.The present invention does not attempt the vision system of Reality simulation fish high complexity.On the contrary, the visually-perceptible device just extracts Useful Information from the virtual environment of 3D, as the kind of color, size, distance and barrier etc.
The visually-perceptible device of Artificial Fish can the perception geometric shape, material behavior and illuminator, and all these is to play up the needed graphics information of environment.In addition, the visually-perceptible device can be inquired about near the barrier of barrier database knowing, the inquiry emulation mode is known the information such as instantaneous velocity of object on every side.
In embodiments of the present invention, the vision of Artificial Fish is quite open, has covered in the water environment that can have an X-rayed the visual angle of 300 °.An object " is seen ", means that it has entered the visual field of this Artificial Fish, and is not thoroughly blocked by other object.
The power sub-system of the embodiment of the present invention has comprised dynamic model and some power controllers of Artificial Fish, simulates truly the dynamic of fish by power sub-system, obtains balance preferably between robotization, authenticity and computing machine consumption.Power controller is parameterized flow process, and each is designed to carry out a specific function of movement, such as " forward trip " " turning left " etc.Input control over nature parameter, as the speed of moving about, rotational angle can be implemented detailed muscle movement.
For the research discovery of fish movement, most of fish use fins as the major impetus of motion.The main muscle that uses the rear portion of health both sides that moves about, and turn to the main anterior muscle that uses.For the motion of synthetic genuine and believable fish, with reference to figure 2, the embodiment of the present invention has adopted the model of the dynamic fish that is comprised of 23 end points and 91 lines.The arrangement of line makes health have structural stability in flexible motion.12 lines that consist of the health major part exist as the abstract of muscle.
Power controller is crossed the setting contraction of muscle and is produced power, and as real fish, the Artificial Fish in the present invention is also the contraction campaign by muscle.If S
ijThe muscle line, by shortening length l
ijRepresent to shrink.For convenient, be provided with the minimum of contraction length of muscle line
And the contraction factor stipulationsization are arrived in scope [0,1].The swing effect that fish tail is special can be shunk the motion muscle line of health one side by periodicity, the muscle line that loosens simultaneously opposite side is realized.
When fish tail swing, can drive one current.The water that is excluded can produce the reacting force perpendicular to the health of fish, and its size is directly proportional to the water yield that is excluded in the unit interval, is driving fish and is swimming forward.
The simulation Artificial Fish of the embodiment of the present invention has been set three power controllers: the controller that moves about is controlled and is moved about forward, and left-hand rotation controller and right-hand rotation controller are controlled respectively and turned right.These power controllers produce power mechanism by setting contraction of muscle.As Fig. 2, the controller that moves about has been controlled the muscle section of moving about, and pivoting controller has been controlled rotation muscle section.The speed of moving about of most of fish is directly proportional to amplitude and the frequency of the periodic swinging of fish tail, and lower than a specific threshold.The present invention has met this actual observation: the speed of moving about and rotational angle all are approximated to direct ratio with shrinkage amplitude and the frequency of muscle line.
For most fish, fin is controlling wander up and down and deflection is moved about.Fin can tighten up in health both sides and gather way by reducing resistance, also can be used as sail and equally stretches to increase resistance.Many fish reach extraordinary effect by fin when looking for food, move as quant by fin to keep health static.The Artificial Fish of the embodiment of the present invention has a pair of fin to assist it to navigate in the 3D world.But virtual fin and the similar relative simply effect of true fin performance.Because target of the present invention is the motion of the health of simulation fish, but not fin, so only simulate the dynamic effect that it produces when motion, but not simulate in detail its physical mechanism.The model of in addition, also wishing the simplification Artificial Fish is simplified calculating.
The main stage casing to health of the Artificial Fish fin of the embodiment of the present invention, i.e. point set 1≤i≤12.The wing of the similar aircraft of effect of fin, up and down, upset can realize with respect to the angle of health by controlling them.The area of supposing fin is A, and surface normal is n, and fish is v with respect to the speed of water, and the power that produces of fin is F
f=-A (nv) n=-A (‖ v ‖ cos γ) n is evenly distributed on 12 points.When rising on the front of fin, health is produced holder power, the fish floating; Otherwise, produce a negative buoyancy, the fish dive.Artificial Fish can reduce speed by the upset fin and come static (this moment γ=π).
The behavior subsystem is the medium between perception subsystem and power sub-system, comprise purpose generator and behavior Path generation device, described purpose generator produces purpose according to the life habit of fish, and the perception data after the purpose combined filtering that described behavior Path generation device generates according to the purpose generator is synthetic makes the behavior path.The purpose generator is being controlled the active development of perception-behavior circulation as " cognition " center of Artificial Fish.The present invention creates the inherent speciality of Artificial Fish by a series of custom parameters, whether be accustomed to dark as it, for female/male etc.The purpose generator comes motivation and the purpose of Dynamic Generation Artificial Fish in conjunction with custom and perception information stream, as preys on other fish.The purpose generator is also being controlled the unwanted perception information of perceptron filter made preferentially to complete motivation and purpose instantly.For example, if current motivation and purpose are predation, near the food source Artificial Fish regulation and control perception information is noted.In each step simulated time section, the purpose generator activates the behavior path, its take through the perception information that filters as input, through calculating, export suitable power control parameter, make Artificial Fish towards a nearlyer step of current motivation.The primitive behavior path, as avoiding obstacles, and more complicated motivation type behavior path, as mating, jointly formed the behavior of Artificial Fish.
The present invention program has showed the phantom frame to some actions of Artificial Fish model.These actions can produce by minimum man-machine interactively compellent single or combination action.Its essence is the fundamental point that has organically combined perception, purpose, behavior three artificial intelligence, simultaneously in behavior with physics as the basis, thereby produced the extremely strong intelligent individuality of independence, can and carry out corresponding rational behavior to the autonomous perception of environment, judgement, and environment is exerted an influence.
Above a kind of Artificial Fish simulation system that the embodiment of the present invention is provided, be described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand technology of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (6)
1. Artificial Fish simulation system, described Artificial Fish is arranged in the three-dimensional simulation world, it is characterized in that, described Artificial Fish simulation system comprises perception subsystem, power sub-system and behavior subsystem, and described perception subsystem gathers and passes to described behavior subsystem after surrounding environment generates perception data and filtration; Described behavior subsystem synthesizes the generation purpose with ambient data in conjunction with the life habit of fish, formulates the behavior path of Artificial Fish; Described behavior subsystem is controlled the control parameter input power subsystem in behavior path Artificial Fish by described power sub-system and is produced corresponding action.
2. Artificial Fish simulation system as claimed in claim 1, it is characterized in that, described perception subsystem comprises visually-perceptible device group and temperature sensor group, described temperature sensor is sampled to the temperature of the Environmental Water that is positioned at fish body center, described visually-perceptible device extracts the kind of information of color, size, distance and barrier from the virtual environment of 3D, near described visually-perceptible device can be known by inquiry barrier database barrier, know the instantaneous velocity of object on every side by the inquiry emulation mode simultaneously, the vision of described visually-perceptible device is 300 °.
3. Artificial Fish simulation system as claimed in claim 1, is characterized in that, described power sub-system comprises dynamic model and some power controllers, and power controller is crossed the setting contraction of muscle and produced power.
4. Artificial Fish simulation system as claimed in claim 3, it is characterized in that, described dynamic model is comprised of 23 end points and 91 lines, with the major impetus of fin as the Artificial Fish motion, the muscle at the rear portion of use fish body both sides moves about, and uses anterior muscle to turn to.
5. Artificial Fish simulation system as claimed in claim 3, it is characterized in that, described some power controllers comprise the controller that moves about, left-hand rotation controller and right-hand rotation controller, the described controller that moves about is controlled Artificial Fish and is moved about forward, and described left-hand rotation controller and right-hand rotation controller are controlled respectively and turned right.
6. Artificial Fish simulation system as claimed in claim 1, it is characterized in that, described behavior subsystem comprises purpose generator and behavior Path generation device, described purpose generator produces purpose according to the life habit of fish, and the perception data after the purpose combined filtering that described behavior Path generation device generates according to the purpose generator is synthetic makes the behavior path.
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| CN2012105639173A CN103093489A (en) | 2012-12-21 | 2012-12-21 | Artificial fish analog system |
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| CN2012105639173A CN103093489A (en) | 2012-12-21 | 2012-12-21 | Artificial fish analog system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113703317A (en) * | 2021-07-28 | 2021-11-26 | 南京邮电大学 | Design method of bifurcation delay controller based on improved predation and predation model |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5603176A (en) * | 1995-02-27 | 1997-02-18 | Hasbro, Inc. | Simulated suspended animation biosphere |
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- 2012-12-21 CN CN2012105639173A patent/CN103093489A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5603176A (en) * | 1995-02-27 | 1997-02-18 | Hasbro, Inc. | Simulated suspended animation biosphere |
Non-Patent Citations (2)
| Title |
|---|
| 涂晓媛等: "《"人工鱼"动画模型设计》", 《软件世界》, no. 4, 30 April 2000 (2000-04-30), pages 54 - 58 * |
| 涂晓媛等: "《"人工鱼"及虚拟海底世界建模方案》", 《软件世界》, no. 4, 30 April 2000 (2000-04-30), pages 59 - 60 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113703317A (en) * | 2021-07-28 | 2021-11-26 | 南京邮电大学 | Design method of bifurcation delay controller based on improved predation and predation model |
| CN113703317B (en) * | 2021-07-28 | 2024-02-20 | 南京邮电大学 | Bifurcation delay controller design method based on predation model |
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Application publication date: 20130508 |