CAJ | 학술논문

为提高机器鱼顶球的快速性、连续性以及顶球效率，提出一种基于二次区域划分的比赛策略。在分析经典顶球算法的基础上，从球和球门的相对位置出发，将场地进行区域划分；针对不同的区域，再根据鱼、球和对方球门的坐标几何位置关系进行动态区域划分，据此决策出最优的顶球算法完成进攻，并在机器鱼比赛平台上对设计的策略进行具体验证。实验结果表明：该策略是有效、可行的，不仅能缩短进球时间，还能做到有效防守，增强本队竞争力。
위제고궤기어정구적쾌속성、련속성이급정구효솔，제출일충기우이차구역화분적비새책략。재분석경전정구산법적기출상，종구화구문적상대위치출발，장장지진행구역화분；침대불동적구역，재근거어、구화대방구문적좌표궤하위치관계진행동태구역화분，거차결책출최우적정구산법완성진공，병재궤기어비새평태상대설계적책략진행구체험증。실험결과표명：해책략시유효、가행적，불부능축단진구시간，환능주도유효방수，증강본대경쟁력。
In order to accelerate the robot fish and improve its continuity and efficiency of ball-pushing, we come up with a competition strategy based on quadratic area division. On the basis after the classical ball-pushing arithmetic be analyzed, considering the relative position of the ball and the gate, the court is divided, and dynamic area division is done after the coordinates of the fish, the ball and the gate is considered in a certain area, and make the certain ball-pushing arithmetic to complete the attack, the strategy is tested on the robot fish competition platform by the single fish ball-pushing experiment. Experimental results show that the strategy is effective and feasible, not only shorten the goal time, but also to achieve effective defense, and enhance the competitiveness of the team.