基于虚拟切线圆的机器鱼比赛进攻策略
内容摘要：
为提高机器鱼射门的成功率，提出了基于虚拟切线圆的机器鱼比赛进攻策略。通过切线圆来调整机器鱼的方向，解决了改变方向时电机的抖动和不稳定性问题，使机器鱼快速准确的调整位姿，到达指定的进攻角度和位置，从而达到快速而准确的射门效果。同时，利用模糊控制准确地控制机器鱼的方向，以便更好地进攻。实验证实了该方法的有效性和可行性。
关键词：
进攻策略；虚拟切线圆；模糊控制
中图分类号：TP249; TP391.9 文献标识码：A
Abstract: In order to improve the successful rate of robotic fish shooting, put forward a new method of offensive strategy based on the virtual tangential circle. Through the tangential circle to adjust the direction of the fish, solve the motor’s jitter and instability problems while changing the direction, make the robot fish adjust the position and orientation quickly and accurately, reach the specified angle and location of attack. At the same time, used fuzzy control to control the direction of the robotic fish accurately, better participated in attack, for achieving fast and accurate shooting result. Experiments confirmed the effectiveness and feasibility of this method.
Keywords: offensive strategy; virtual tangential circle; fuzzy control
