一种基于中垂线路径规划的仿真机器鱼射门算法

摘要

In order to increase the accuracy and efficiency of shooting during the attack of simulate robotic fishes, reduce the interference water wave and enemy to simulate robotic fishes, we designed a optimal path planning algorithm for shooting in vertical path based on the vertical of the center of simulate robotic fish’s rigid body and the center of simulate water polo in this paper. The introduction of perpendicular path planning algorithm for optimal shooting, shot analysis algorithms for problems improved shooting algorithm gives the basic idea of the proposed algorithm implementation methods, and examples for simulation and evaluation were give in the paper. The algorithm has been successfully used the simulate robotic water polo competition of 1vs1, 3vs3 and snooker water polo. The practice result shows that the algorithm has a concise and ingenious design and high attack efficiency, which could enable robotic fishes find a optimal path and shot in a very short time.%为提高仿真机器鱼在进攻过程中的射门效率和准确度，减少水波和敌方对仿真鱼的干扰[1]，设计一种基于仿真鱼的刚体中心点和仿真水球中心点连线的中垂线的射门路径最优路径规划算法[2]。介绍中垂线路径规划最优射门算法，分析算法用于射门存在的问题，给出射门算法改进的基本思路，提出算法的实现方法，并以实例进行仿真及效果评价。该算法已成功应用于机器鱼水球比赛1vs1、3vs3、水球斯诺克等中。实际应用结果表明：该算法实现简洁巧妙，进攻效率高而且抗干扰强，能使机器鱼在最短的时间内寻找一条合适路径然后顶球射门[3]。