半圆形尾鳍机器鱼在水球竞赛中的点到点路径规划算法
内容摘要：
为增强机器鱼在比赛中的机动性和顶球的高效性，对机器鱼尾鳍形状进行改装，并对2种点到点路径规划算法进行分析。在实验观察基础上，借鉴对鱼类运动机理研究的成果，将机器鱼的尾鳍形状由半月形改变成半圆形，增大了机器鱼的推进能力。结合水球比赛不同项目的要求和特点，以及机器鱼尾鳍形状改装后运动性能的变化情况，从理论上给出2种点到点路径的设计思路，并针对比赛中存在的实际问题提出了解决办法。根据实际需求，可在单鱼顶球的比赛中选用齿轮法，而在单鱼或多鱼对抗中，则可选用角度修正法。
关键词：
机器鱼；半圆形尾鳍；水球竞赛；策略
中图分类号：TP242; TP301.6 文献标识码：A
Abstract: In order to increase the flexibility and efficiency of robot fish in competitions, refit tale fin and analyze two point-to-point strategy. Based on the experiments and researches on the movement of robot fish, the robot fish could be speeded up by refitting the shape of tale fin from lune to hemicycle. Combined with the different requirements and characteristics of different items of robotic fish water polo game and the performance after refitting, two point-to-point track strategy are given, and the resolution is also given for the problems in game. According to requirements, use gear method in ball-pushing competition and adopt angle amending method in single fish or multi-fish countermine.
Keywords: robot fish; hemicycle tale fin; polo competition; strategy
