曲线路径算法的2D仿真机器鱼水球斯诺克比赛策略  

A Game Strategies in 2D Simulation Robot-fish Water Polo Snooker Based on Curve Path Planning Algorithm

作　　者：王洪辉[1] 卓天祥 钟盼[1] 孟令宇[1] YANG Jia-xin 庹先国[3] 

机构地区：[1]成都理工大学核技术与自动化工程学院,成都610059 [2]诺丁汉大学电气与电子工程学院 [3]四川理工学院,自贡643000

出　　处：《科学技术与工程》2017年第22期255-259,共5页Science Technology and Engineering

基　　金：国家杰出青年科学基金(41025015);成都理工大学中青年骨干教师培养计划(KYGG201513);四川省卓越工程师教育培养计划(15Z006;16Z0556)资助

摘　　要：为了提高水中机器人2D仿真平台斯诺克赛项的得分,基于URWPGSim 2D(underwater robot water polo game simulator2D)仿真平台,采用最短距离和最小旋转角度求和比较的方法,实验得出了机器鱼以不同速度行进时其偏转角度呈奇偶特征,以此研究了其比赛策略和带球算法。在策略上,确定了红球-粉球组合最优、红球进洞顺序为从左到右、红球进中上洞、粉球进左下洞。基于此,确定了一种基于曲线路径的带球算法,给出了中上洞、左下洞带球进洞路径规划,采用虚拟点位和距离阈值的模糊控制理论来实现算法。仿真结果表明:优化后的带球算法效率高,实际比赛效果好,所提出的比赛策略和带球算法可应用于水下机器人运动控制。In order to raise the score of the underwater robot game in 2D simulation robot fish water bool snooker,a method which is using calculating the minimum distance and minimum rotation angle based on the URWPGSim（underwater robot water polo game simulator 2D） has been proposed.Lots of simulation experiments showed that there existed angle deviation when the robot-fish swam.Based on these findings,the competition strategy and was studied the following understandings were：obtained the red-ball and pink-ball combination is the optimal strategy;the order of the red-ball into the pocket is from left to right;the red ball enter the top and middle pocket,the pink ball enter the left bottom pocket.Moreover,a curve path heading ball algorithm based on the fuzzy control theory has been proposed and the path planning of the object ball into the upper middle pocket and the left bottom pocket has been suggested.At the same time,the algorithm was realized through the virtual point method and the fuzzy control theory.The experimental results show that the optimized heading ball algorithm is more efficient and good effect in the game.In light of the above,this approach can be applied to the underwater robot motion control.

关 键 词：2D仿真 机器鱼 水球斯诺克 路径规划 带球算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]