Trajectory Planning Strategy for Robotic Water Polo Matches

摘要

An area partition-based ball-pushing control strategy is proposed for the real robot water polo events since the multi-joint robot fishes often play the edge ball or are unable to touch the ball in their attempt of pushing the ball.As a first step,the venue image acquired is partitioned into several areas for separate implementation of different conttol options regarding the position judgment of ball and fishes and the ball-pushing strategy.According to the line connecting the ball to the goal midpoint,the area around the ball is divided into the ball-pushing area and the non-ball-pushing area,and a temporary point is designed for the ball-pushing area.The robot fishes are set to hit the ball when they are in the ball-pushing area;and when they are in the non-ball-pushing area,the fishes are driven into the ball-pushing area via the temporary point to hit the ball.The experimental results show that the use of this method allows the robot fishes in the water to push the target ball to the goal more quickly and accurately.Aside from the 2V2 water polo competition,the proposed method is also applicable to the N V N water polo competition,and even robot path planning.