2D仿真机器鱼协作过孔基于区域的动态协作策略

摘要

In order to solve problems such as unstable dribbling because of the narrow path , dribbling not well effective and too many dead angles, this article propose a strategy that making full use of the suitable divided areas in given platform to perform dynamic collaboration. Making full consideration of the influence (such as the size of robotic fish and controllability) on movement, the four broad competition areas are divided into nine elaborate areas. Making use of the data characteristics including the direction of fish body, the position of the fish, the position of the ball and the features of the goal to build dynamic model for the purpose of calculating the best location to head the ball and get. The results show that this strategy can solve problems caused by narrow path and making fish head the ball quickly.%针对2D仿真协作过孔项目因鱼的运行路线相对狭窄导致带球不稳定、带球效果不好以及死角多等问题，提出一种合理利用平台环境的适当划分区域进行动态调整的协作策略。充分考虑尺寸因素和可控性因素对运动的影响，将4大区域比赛平台划分为9个详尽区域，利用鱼体方向、鱼的位置、球的位置和球门的特征等数据构建动态模型来求出最宜顶球目标点，并且整合夹角处等特殊情况。结果表明：该策略能解决因运行路线狭窄带来的不足，使鱼能快速有效地完成顶球。