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.
引文
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