CAJ | 학술논문

为提高水中机器人带球接力效率，提出一种水中机器人协作策略。分析水中机器人的运动特性，通过采集场地环境信息，对信息进行判断，综合考虑机器人与球所处的位置来选择下一步动作。在确定机器人协作方案的基础上，实现具体的机器人带球接力方法。仿真结果表明：该策略是有效的，能提高水中机器人的运动速率及完成效率，在运动控制上更加灵活。
위제고수중궤기인대구접력효솔，제출일충수중궤기인협작책략。분석수중궤기인적운동특성，통과채집장지배경신식，대신식진행판단，종합고필궤기인여구소처적위치래선택하일보동작。재학정궤기인협작방안적기출상，실현구체적궤기인대구접력방법。방진결과표명：해책략시유효적，능제고수중궤기인적운동속솔급완성효솔，재운동공제상경가령활。
In order to improve the efficiency of relay race of underwater robot, a cooperation strategy of underwater robot was proposed. Analysis the kinematics of the robot, select the next action through analyzing the environment information and considering the location of robot and ball comprehensively. On the basis of determining the cooperation solutions, the specific method of relay race is achieved. Simulation results show that the strategy is more effective to improve the speed and efficiency of the robot, and it’s more flexible in motion control.