摘要
基于国际水中机器人大赛2D仿真抢球博弈项目,针对仿真机器鱼路径规划问题提出弧切算法,设计仿真机器鱼的运动轨迹,并由角速度档位划分确保仿真机器鱼运球的稳定性。以距离角度值为基础提出死角避险、双鱼协作合力顶球算法,意在实现仿真机器鱼快速、高效进球,从而提高策略的健壮性,并通过URWPGSim2D仿真平台对策略进行验证。实验结果表明:该策略可以在较短时间内取得较大分数领先,并且呈现出高效、稳定的优点。
Based on the 2D simulation game project of the international underwater robot competition,the arc cutting algorithm is proposed to solve the path planning problem of the simulation robot fish,and the trajectory of the simulation robot fish is designed,and the angular velocity gear is divided to ensure the stability of the simulation robot fish ball.Based on the distance angle value,puts forward the algorithm of dead angle avoidance and pisces cooperative force heading,which aims to realize the simulation robot fish to score quickly and efficiently,so as to improve the robustness of the strategy.The strategy is verified by URWPGSim2D simulation platform.The experimental results show that the strategy can achieve a large score lead in a short period of time,and has the significant characteristics of high efficiency and stability.
作者
李浩波
夏洋洋
侯凌燕
Li Haobo;Xia Yangyang;Hou Lingyan(College of Computing,Beijing Information Science&Technology University,Beijing 100101,China)
出处
《兵工自动化》
2021年第10期91-96,共6页
Ordnance Industry Automation
基金
北京信息科技大学2020年促进高校内涵发展-大学生科研训练项目(5102010805)。
关键词
2D仿真
抢球博弈
策略
顶球算法
2D simulation
ball grabbing game
strategy
heading algorithm
