CAJ | 학술논문

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]。
위제고방진궤기어재진공과정중적사문효솔화준학도，감소수파화활방대방진어적간우[1]，설계일충기우방진어적강체중심점화방진수구중심점련선적중수선적사문로경최우로경규화산법[2]。개소중수선로경규화최우사문산법，분석산법용우사문존재적문제，급출사문산법개진적기본사로，제출산법적실현방법，병이실례진행방진급효과평개。해산법이성공응용우궤기어수구비새1vs1、3vs3、수구사낙극등중。실제응용결과표명：해산법실현간길교묘，진공효솔고이차항간우강，능사궤기어재최단적시간내심조일조합괄로경연후정구사문[3]。
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.