Research On The Behavior Of Bionic Robotic Fish School Based On Unity3D

Traditional biomimetic robotic fish swarming has a complex control mechanism,making it difficult to complete tasks efficiently.Nevertheless,the behavior of biological groups in nature offers a solution for controlling robotic fish swarms.In this paper,a behavior model of a school of fish is developed in order to simulate the group behavior of a school of fish,thereby realizing the group movement of bionic robot fish.This paper investigates the construction of a virtual simulation platform,bionic robot fish group motion modeling,and group path planning using bionic robot fish as the research object.The main research contents were as follows:Firstly,this paper explains the background and significance of the research on the behavior of bionic robotic fish schools,summarizes the domestic and international research status of virtual simulation platforms and group movement,and provides a concise overview of the chapter organization and content.Secondly,a Unity3D-based virtual simulation platform is designed to solve the problem that the traditional simulation platform makes it challenging to simulate the interaction and visualization of bionic robot fish.Designed and implemented the virtual scene of the simulation platform,establishing the terrain model,obstacle model,and bionic robot fish model with 3DSMax;establishing the water body model with Unity3 D components,setting up the sky box and light source module;and adding obstacles and robot fish.Collision body detection coded into the robotic fish’s control driver.The establishment of the Unity3D-based virtual simulation platform has established the groundwork for the subsequent simulation.Thirdly,in order to control the complex motion of bionic robotic fish groups,a bionic robotic fish group motion model was developed based on the behavior of fish schools in nature.In-depth analysis of the Boid model,the Couzin model,and the Vicsek model,in light of the fact that these three models cannot simulate the behavior of fish schools in their entirety,the behavior of fish schools is divided into internal behavior of fish schools and escape behavior,and a bionic machine based on fish school behavior is then developed.The simulation was conducted on the author-created virtual simulation platform in order to test the validity of the model.The experimental results demonstrated that the model accurately simulates the internal behavior and escape behavior of colonies of fish.Finally,in response to the difficulty of modeling the conventional bionic robot fish path planning algorithm,a reinforcement learning and group motion model-based path planning method is proposed.To realize the path planning of the bionic robotic fish,the path planning of a single bionic robotic fish is planned,and then the group motion model is used to realize the path planning of the robotic fish.Using the proximal strategy optimization algorithm in conjunction with the method of curriculum learning,a single bionic robotic fish’s path is planned.The simulation results indicate that a single bionic robotic fish can locate the optimal collision-free path in the shortest amount of time and with the fewest number of steps.Using the group motion model,the path of the fleet of bionic robotic fish is planned after the addition of multiple bionic robotic fish.The simulation results demonstrate that the bionic autonomous fish is capable of locating the optimal route from the starting point to the destination,proving the efficacy of the proposed method.