基于水波建模的交替式顶球改进算法
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摘要
针对机器鱼比赛中出现的情况以及基本顶球算法的不足,设计一种基于水波建模的交替式顶球算法。在经典顶球算法的基础上,根据水波建模的相关理论,给出了基于水波建模的交替式顶球算法的具体思想,通过变换坐标系,使球以曲线的方式向前推进,利用水波建模对算法进行优化,提高顶球点的精度,从而减少误差,并对算法进行验证。实验结果表明,该算法可提高机器鱼顶球效率并缩短一次进球所需要的时间。
Based on water wave modeling, alternating ball-pushing modified algorithm is proposed to solve lack of the basic ball-pushing algorithms and some situations on the robotic fish water polo game. According to the classic ball-pushing algorithms and the theory based on water wave modeling, the modified algorithm transform the coordinate system and the robotic fish alternates to push ball and the ball forward in a curved manner. To improve the accuracy of the real-time geometry sites of the ball and reduce errors, the algorithm is optimized through water wave modeling. Results show that this ball-pushing algorithm can improve the efficiency of goals and shorten the goal time.
Based on water wave modeling, alternating ball-pushing modified algorithm is proposed to solve lack of the basic ball-pushing algorithms and some situations on the robotic fish water polo game. According to the classic ball-pushing algorithms and the theory based on water wave modeling, the modified algorithm transform the coordinate system and the robotic fish alternates to push ball and the ball forward in a curved manner. To improve the accuracy of the real-time geometry sites of the ball and reduce errors, the algorithm is optimized through water wave modeling. Results show that this ball-pushing algorithm can improve the efficiency of goals and shorten the goal time.
引文
[1]2015国际水中机器人大赛全局视觉组比赛项目及规则[Z].国际水中机器人联盟, 2015.
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[3]喻俊志.多仿生机器鱼控制与协调研究[D].北京:中国科学院自动化研究所, 2003.
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[5]陈远志,李卫京.半圆形尾鳍机器鱼在水球竞赛中的点到点路径规划算法[J].兵工自动化,2010,29(11):66-69, 78.
[6]韩虹飞,谭文,谢广明.基于坐标变换的机器鱼顶球算法[J].兵工自动化, 2012, 31(11):73-75, 79.
[7]北京大学.机器人水球比赛项目推介书[M].北京:北京大学, 2009:9-11.
[2]韩学东,洪炳镕,孟伟.机器人足球射门算法研究[J].哈尔滨工业大学学报, 2003(9):1064-1066.
[3]喻俊志.多仿生机器鱼控制与协调研究[D].北京:中国科学院自动化研究所, 2003.
[4]谢超平,孔峰,陶金.基于模糊控制的仿生机器鱼转向控制研究[J].机器人技术与应用, 2009(4):26-28.
[5]陈远志,李卫京.半圆形尾鳍机器鱼在水球竞赛中的点到点路径规划算法[J].兵工自动化,2010,29(11):66-69, 78.
[6]韩虹飞,谭文,谢广明.基于坐标变换的机器鱼顶球算法[J].兵工自动化, 2012, 31(11):73-75, 79.
[7]北京大学.机器人水球比赛项目推介书[M].北京:北京大学, 2009:9-11.