一种 2D 仿真水球 5VS5 比赛策略
内容摘要：
针对水中机器人 2D 仿真水球 5VS5 比赛的规则，提出一种有效的多鱼协作带球与抢球方法。从速度控制、
方向控制、顶球动作和智能反应 4 个方面进行单鱼动作设计，在此基础上进行简化后增加特殊角度的设计，采用动
态顶球点和动态最优位置来设计协作带球，并通过"领域智能算法"进行协作抢球。分析结果证明：该策略能提高
机器鱼之间的协作，并在 2012 中国机器人大赛 2D 仿真水球 5VS5 项目中取得了亚军。
关键词：
机器鱼；多鱼协作；路径规划
中图分类号：TP242；TP301.6 文献标志码：A
Abstract: For the rules of the game of underwater robot 2D simulation water polo 5vs5, this thesis puts forward a kind of more effective method by multi-robot fish's collaborating dragging and grabbing the ball. The thesis mainly makes a design of a single fish movement from the speed control, direction control, heading action and intelligent response. On the bases, the special angle is used to simplify the design. In addition, dynamic head points and dynamic optimal position are adopted to design dragging the ball, and grabbing the ball is completed through the "field of the intelligent algorithm". Analysis results show that: the strategy can enhance collaboration among robotic fish, and get the runner-up in 2012 China Robot Contest 2D simulation water polo 5VS5 project.
Key words: underwater communication; electric field; multi-machine communication
