CAJ | 학술논문

针对水中机器人2D仿真水球5VS5比赛的规则，提出一种有效的多鱼协作带球与抢球方法。从速度控制、方向控制、顶球动作和智能反应4个方面进行单鱼动作设计，在此基础上进行简化后增加特殊角度的设计，采用动态顶球点和动态最优位置来设计协作带球，并通过“领域智能算法”进行协作抢球。分析结果证明：该策略能提高机器鱼之间的协作，并在2012中国机器人大赛2D仿真水球5VS5项目中取得了亚军。
침대수중궤기인2D방진수구5VS5비새적규칙，제출일충유효적다어협작대구여창구방법。종속도공제、방향공제、정구동작화지능반응4개방면진행단어동작설계，재차기출상진행간화후증가특수각도적설계，채용동태정구점화동태최우위치래설계협작대구，병통과“영역지능산법”진행협작창구。분석결과증명：해책략능제고궤기어지간적협작，병재2012중국궤기인대새2D방진수구5VS5항목중취득료아군。
For the rules of the game of underwater robot 2D simulation water polo 5vs5, this thesis puts forward a kind of more effective method by multi-robot fish’s collaborating dragging and grabbing the ball. The thesis mainly makes a design of a single fish movement from the speed control, direction control, heading action and intelligent response. On the bases, the special angle is used to simplify the design. In addition, dynamic head points and dynamic optimal position are adopted to design dragging the ball, and grabbing the ball is completed through the “field of the intelligent algorithm”. Analysis results show that:the strategy can enhance collaboration among robotic fish, and get the runner-up in 2012 China Robot Contest 2D simulation water polo 5VS5 project.