关键词：光机电；机器人；合作博弈；效益函数；路径规划
摘 要：In order to improve the sense of cooperation of robotic fishes between each other to complete the task with high efficiency,this paper presents a path planning method for multi-robot fish based on the cooperative game model.With a mathematical model established on the cooperative game which is based on the game theory,the robotic fish in this system corresponds to the other participants in the game,benefit function of the game player on the cooperation model of multi-robot fish path construction is studied in this paper,which gets system Pareto optimal solution,then getting the optimal path of the entire system.Using the above method,the authors simulate and analyze on the robotic fish in water 2D simulation platform,and to use Matlab to simulate robot fish's track.The results of analysis indicate:Applying the path planning theory in the multi-robot fish movement system is effective and feasible,and that avoids planning only a single robotic fish's optimal path in the system,while leaving the movement of system in the beneath coordination.