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題 名 | 仿生型自主式水下載具行動規劃與虛擬實境之研究=Study on Action Planning and Virtual Reality of Biomimetic AUV |
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作 者 | 郭真祥; 陳彥均; 胡耀文; | 書刊名 | 國立臺灣大學工程學刊 |
卷 期 | 92 民93.10 |
頁 次 | 頁79-88 |
分類號 | 444.62 |
關鍵詞 | 仿生型自主式水下載具; 行動規劃; 虛擬實境; 模糊理論; Biomimetic AUV; Action planning; Virtual reality; Fuzzy theory; |
語 文 | 中文(Chinese) |
中文摘要 | 本文選擇錦鯉做為仿生型水下載具之研究對象,依據真實錦鯉的幾何外形,建立出錦鯉的三維幾何外形模型,並採用貼圖技術,將真實錦鯉的表皮紋理材質貼附於錦鯉模型曲面之上,更進一步根據錦鋰的骨骼架構,設定虛擬錦鯉的運動模式,以產生逼真的效果。在水下載具行動規劃的問題上,本文採用了模糊控制理論,完成了一個決策系統的設計,並針對載具幾何外形參數與運動方式設定不同的模糊變數,選擇最適合的歸屬函數,使仿生型自主式水下載具能夠在三度空間中,避開障礙物並抵達目的地,最後依據此系統所規劃出的行進路線,以動畫方式呈現虛擬錦鯉在水中游動的情形。 |
英文摘要 | Carp is chosen as the object of study for biomimetic AUV in this paper. The 3D model of the virtual carp is constructed according to the geometry of a real carp. Besides, texture mapping technologies are employed to make the virtual carp more realistic. The swing mode of the virtual carp is also set based on the bone structure of real carp. Furthermore, fuzzy logic is applied to design a decision system for BAUV. In this system, the fuzzy control theorem and fuzzy linquistic variables are set according to the geometry of the BAUV and its motion behavior. It makes the BAUV able to determine a collision-free route to the goal position in the three- dimensional environment. After the route is determined, the action of the BAUV is visualized by animation. |
本系統中英文摘要資訊取自各篇刊載內容。