基于有效区域和有效方向的全局顶球策略  

Ball-pushing Strategy Based on Available Location and Available Direction

作　　者：刘甜甜[1] 徐灿[2] 陈言俊[1] 

机构地区：[1]山东大学工程训练中心,济南250002 [2]山东大学软件学院,济南250101

出　　处：《兵工自动化》2013年第12期69-71,共3页Ordnance Industry Automation

摘　　要：为了使机器鱼的顶球兼备速度性和连贯性并提高进球效率,提出一种基于有效区域和有效方向的顶球算法。在分析典型的顶球算法的基础上,从鱼、球、球门三者的相对位置出发,判断是否在有效区域和有效方向上,并以单机器鱼顶球为实验任务,并对该策略进行了验证。实验结果证明,该方法能有效缩短一次进球所需要的时间。In order to make the ball-pushing movement fast and coherent, and to improve the efficiency of goals, an algorithm based on available location and available direction was proposed. On the basis of analyzing the basic ball-pushing algorithms and the relative position among fish, ball and goal, the algorithms decides if the robotic fish is in the available location and available direction. Validate the algorithm by a ball-pushing experiment on the robotic fish water polo game platform. Results show this ball-pushing algorithm can largely shorten one goal time.

关 键 词：顶球算法 机器鱼 水球比赛 有效区域 有效方向 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]