水中机器人2D仿真比赛策略  

2D Simulation Competition Strategy of Underwater Robot

作　　者：雷艳敏[1] 祁吉 钱俊如 杜保伟 Lei Yanmin;Qi Ji;Qian Junru;Du Baowei(College of Electronic Information Engineering,Changchun University,Changchun 130022,China)

机构地区：[1]长春大学电子信息工程学院

出　　处：《兵工自动化》2020年第1期92-96,共5页Ordnance Industry Automation

基　　金：吉林省教育厅项目(JJKH20191199KJ);长春大学科研启动基金项目(自然科学类)(ZKQD201901)

摘　　要：基于URWPGSim2D仿真平台,结合2V2抢球博弈赛要求,提出一种水中机器人2D仿真比赛策略。根据仿真策略,采用切入圆算法,通过仿真鱼的距离及角度计算,对仿真鱼进行自动调速控制,提出速度优先策略来优化仿真鱼的自动调速,根据决策树算法模型思想,建立预测模型,并通过仿真实验进行验证。实验结果表明:该比赛策略能够实现自动换挡,具有抢球速度快、稳定性好和进攻性强的特点。Based on URWPGSim2D simulation platform and combined with 2V2 ball grabbing game requirements,a 2D simulation game strategy for underwater robots was proposed.According to the simulation strategy,the cut circle algorithm is adopted to calculate the distance and angle of the simulation fish,and the automatic speed regulation of the simulation fish is controlled.The speed priority strategy is proposed to optimize the automatic speed regulation of the simulation fish.The prediction model is established according to the idea of the decision tree algorithm model,and verified by the simulation experiment.The experimental results show that this strategy can realize automatic shifting,and has the characteristics of fast speed,high stability and strong offensiveness.

关 键 词：水中机器人 抢球博弈 比赛策略 顶球算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]