针对人工势场法在仿生机器鱼路径规划应用中障碍物目标附近不可达问题(GNRON),采用人工势场与模糊逻辑相结合的算法,预设一个模糊控制器,在机器鱼陷入陷阱区域时,切换至以之匹配的模糊控制算法,使机器鱼快速摆脱陷阱区域,向目标点移动.通过实验,实现了机器鱼在全局环境下的避障,证明了该方法的有效性.%Aiming at the problem of GNRON in the application of artificial potential field in robot fish path planning, a fuzzy controller is proposed by combining the artificial potential field and fuzzy logic. When the robot fish falls into the trap area, switch to the matching fuzzy control algorithm, so that the robot fish can quickly get rid of the trap area and move to the target point. Through the experiment, the obstacle avoidance of the robot fish in the global environment is realized, which proves the effectiveness of the method.
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