一种机器鱼水球仿真比赛裁判自动控制系统
内容摘要：
针对水下环境的不确定性以及策略算法调试困难等问题，设计一种机器鱼水球仿真比赛裁判自动控制系统。介绍其系统框架，通过机器鱼运动学建模得到机器鱼位姿，对机器鱼进行运动控制仿真、扰动控制仿真、碰撞处理仿真、对比赛进程进行自动控制仿真等。系统并提供了实体机器鱼水球比赛相关控制接口及接口扩展功能等。结果表明，该系统能为水球仿真比赛过程中出现的犯规情况、比赛进程控制、进球判断、比赛特有规则等提供了有效的控制处理方法，还可扩展到水球仿真比赛的其他项目，或3D仿真和实体仿生机器鱼水球比赛控制系统中。
关键词：
水球仿真比赛；运动控制；裁判自动控制；接口扩展；进攻控制
中图分类号：TP273 文献标识码：A
Abstract: In order to tackle the problems as the uncertainty of underwater environment, the strategy debugging and so on, a referee auto-control system of robot water polo game simulator has been designed in the study. The paper introduces the design framework, including the position and direction of the underwater robot through modeling the kinematics model of underwater robot, movement control simulation, modes of disturbed motion simulation, collision treatment simulation and automatic control in the process of robot water polo game simulator simulation etc. The design framework also supplies the correlational control interfaces of the entity of underwater robot polo competition and its expanding functions. The result shows that the system can provide effective control and management measures for foul situations, game process control, goal judge, game special rules and so on, which appear in the process of robot water polo game simulator. Beside that, the system can extend to be applied not only into other items in robot water polo game simulator, but also into 3D simulation and the entity of underwater robot polo competitions.
Keywords: water polo game simulator; move control; referee auto-control; interface extend; movement control
