仿真机器鱼抢球大作战比赛策略的研究

摘要

This paper aimed at designing a flexible,effective and strong opposability multi-robofish control strategy to achieve the collaboration and distribution of responsibilities among the robofish and win the competition finally for the event called "Challenge for the balls" based on Peking University robofish platform with the characteristics of multi-variables,strong opposability,interoperability among the robofish and fast changes about the field settings,competition rules,and so on.Due to the complex environment,the research of its control strategy continuously is difficult.To this,this paper divided the robofish into different roles firstly; divided the competition field secondly according to the balls positions,; and then divided the competition phase according to the time.Finally,we considered these three factors,and gave an effective strategy for multi-robofish collaboration challenging for the balls.The strategy has obtained a good result of the first prize in the "2012 China Underwater Robotics Competition-The First International Underwater Robotics Open Competition".That fully verifies the stability and the availability of the strategy.%针对北大机器鱼平台中“抢球大作战”项目控制量多,多机器鱼间协作及对抗性强,以及场地设置和比赛规则变化快等特点,设计一套灵活、有效,并且极具对抗性的多机器鱼控制策略,实现机器鱼之间的协作分工,最终赢得比赛的胜利.由于环境的复杂多变,为解决控制策略的优化,提出先将机器鱼进行角色分工,并依据场地中水球所在位置将场地进行区域划分,再依据时间将比赛进行阶段划分.最后综合考虑这三个因素,给出多机器鱼协作抢球的有效策略,并在“2012中国水中机器人大赛暨首届国际水中机器人公开赛”中取得一等奖的好成绩,充分验证了改进策略的稳定性和有效性.