兵工自动化
兵工自動化
병공자동화
ORDNANCE INDUSTRY AUTOMATION
2014年
12期
77-80
,共4页
机器鱼%多机器鱼协作%防守策略
機器魚%多機器魚協作%防守策略
궤기어%다궤기어협작%방수책략
robot fish%multi-robot fish collaboration%defending strategies
为提高水中多机器鱼协作能力，针对国际水中机器人大赛2D仿真水球5VS5项目，提出应对当前主流的进攻方式的防守策略。对于直线型进攻方式，提出“勺子型”防守策略；对于勺子型进攻方式，提出“破勺子型”防守策略。结果表明：该策略能很好地完成防守任务，其调整跟踪函数也能做到非常好的实时跟踪。运用该策略曾经在2012年中国水中机器人大赛上取得过亚军。
為提高水中多機器魚協作能力，針對國際水中機器人大賽2D倣真水毬5VS5項目，提齣應對噹前主流的進攻方式的防守策略。對于直線型進攻方式，提齣“勺子型”防守策略；對于勺子型進攻方式，提齣“破勺子型”防守策略。結果錶明：該策略能很好地完成防守任務，其調整跟蹤函數也能做到非常好的實時跟蹤。運用該策略曾經在2012年中國水中機器人大賽上取得過亞軍。
위제고수중다궤기어협작능력，침대국제수중궤기인대새2D방진수구5VS5항목，제출응대당전주류적진공방식적방수책략。대우직선형진공방식，제출“작자형”방수책략；대우작자형진공방식，제출“파작자형”방수책략。결과표명：해책략능흔호지완성방수임무，기조정근종함수야능주도비상호적실시근종。운용해책략증경재2012년중국수중궤기인대새상취득과아군。
In order to improve the ability of multi-robot fish cooperation in water, based on 2D Simulation Water Polo 5VS5 Project in International Underwater Robot Contest, puts forward defending strategies, dealing with the current mainstream attacking ways. For heading the ball in the straight-line way, a “spoon-type” defensive strategy is proposed. For heading the ball in the spoon-type way, a “broken-spoon-type” defensive strategy is proposed. The results showed that this method can complete the defensive task perfectly, and the adjusting and following function can finish real-time tracking especially. Using these strategies, we once got runner-up in Chinese Underwater Robot Contest in 2012.
