为使机器鱼的顶球兼备精确性以及在鱼脱离预定轨道的情况下尽可能使水球朝有利于我方进攻方向偏离，提出一种精确与模糊协作的顶球策略。在分析以往顶球算法的基础上，设计一种以水球与目标点连线为基准的区域划分，综合考虑理想情况以及水中各种复杂因素影响后的鱼、球以及目标点的相对位置和几何关系，合理组合路径规划算法和动作决策算法，并以实例在符合路径规划条件和不符合路径规划的条件下进行测试。实验结果表明：该算法能最大限度地利用机器鱼目前所处的环境，使机器鱼的顶球兼备精确性和模糊性。%In order to ensure the heading ballprecise movement, and make the ball deviated to the direction which is benefit for our attack as possible as we can in the case of the fish breaking away from the predicted track, put forwards a method of precise and fuzzy collaboration offensive strategy. Analysis the past heading ballalgorithm based on the design of a connection to the water polo and target point basis zoning, and considering the ideal situation as well as water fish a variety of complex factors, the ball and the target point relative position and geometric relationships reasonable combination of path planning algorithm and action decision-making algorithm, the precise path planning with fuzzy action decisions collaboration, with examples in meet the requirements for the path planning and path planning is not in conformity with the conditions for testing. The experimental results show that the algorithm can maximize the use of present environment where robot fish in, make heading ballmovement with accuracy and fuzziness.
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