摘要
为了使机器鱼的顶球兼备速度性和连贯性并提高带球进攻效率,提出一种基于坐标变换的顶球算法。在分析典型的顶球算法的基础上,设计了机器鱼的几种简单动作,依据机器鱼、球和对方球门的坐标几何位置关系的设计决策机制来选择机器鱼下一步动作,并在多水中机器人协作控制平台上进行了单鱼顶球实验。实验结果表明,该算法是有效的,能大大提高机器鱼顶球效率和缩短一次进球所需要的时间。
The ball-pushing algorithm based on coordinate transformation is proposed to accelerate speed, smooth the ball-pushing movement, and improve the efficiency of goals. The algorithm designs several simple actions on the basis of analyzing the basic ball-pushing algorithms and uses arbiter for action decision according to the geometry sites of robot fish, the ball and opponent＇s gate. The algorithm is validated by a ball-pushing experiment on the multiple robot collaboration in water control platform. Results show that this ball-pushing algorithm is effective and can improve the efficiency of goals and shorten the goal time.
出处
《兵工自动化》
2012年第11期73-75,79,共4页
Ordnance Industry Automation
基金
国家自然科学基金项目(61174096)
关键词
机器鱼
坐标变换
顶球算法
水球比赛
robot fish
coordinate transformation
ball-pushing algorithm
water ball game
