针对国际水中机器人大赛2D仿真项目花样游泳中仿真机器鱼的游动优化问题,从整体思路、程序编写、仿真机器鱼游动3方面提出新策略.整体思路上采用渐变图案和动态画面展示完整的故事和主题;程序编写上利用标志和位姿采集使其模块化,以便于插入新动作程序;仿真机器鱼游动上采用特定的游动角度和游动时间优化直线游动,提升游动路线的直线度,并通过实验和比赛进行验证.验证结果表明:该策略有效地提高了花样游泳编队观赏性、整体协作性和技术难度等级,可为相关研究提供参考.%Aimed at swimming optimization problem of 2D simulation robotic fish synchronized swimming in the International Underwater Robot Competition, new strategies about overall thinking, programming, and swimming of simulation robotic fish are proposed. For the overall thinking, gradient patterns and motion graphics are used to show a complete story and theme. In order to easily insert a new action program, modularization programming is realized by using the flag and acquiring position and attitude. In order to enhance the straightness of the swimming path, specific swimming angles and swimming time are adopted to optimize linear swimming of simulation robotic fish. And verify it by test and competition. Verification results show that the strategy can effectively improve formation appreciation, overall collaboration, and technical difficulty level of synchronized swimming.It can be a reference for related research.
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