CAJ | 학술논문

针对在全局视觉组花样游泳项目中出现的机器鱼不受控制的现象，提出一种易于实现的基于条件决策的花样游泳算法。通过对3条机器鱼同时运行时各自所处的位置以及相互之间碰撞的分析，对3条机器鱼处在不同状态时所能满足的条件进行判断，以此来决定执行相应的策略。实验结果表明：利用该算法完成的花样游泳项目具有较好的流畅性和较高的观赏性。而且该算法具有较好的扩展性，通过增加判断条件可以实现更加复杂的运动控制。
침대재전국시각조화양유영항목중출현적궤기어불수공제적현상，제출일충역우실현적기우조건결책적화양유영산법。통과대3조궤기어동시운행시각자소처적위치이급상호지간팽당적분석，대3조궤기어처재불동상태시소능만족적조건진행판단，이차래결정집행상응적책략。실험결과표명：이용해산법완성적화양유영항목구유교호적류창성화교고적관상성。이차해산법구유교호적확전성，통과증가판단조건가이실현경가복잡적운동공제。
In order to deal with the phenomenon that robot fish lose control in the synchronized swimming game, we put forward a synchronized swimming algorithm based on conditions decision. By analyzing the location and the collision of three robot fish when they are moving, we can judge the conditions that three robot fish are satisfied in different situation, and use corresponding strategy. The experimental results show that the synchronized swimming project with this algorithm has good effect. In addition, this algorithm is scalable and we can add more conditions to achieve more complicated motion control.