基于URWPGSim2D平台的机器鱼稳定性及路径规划

水中机器人水球比赛2D仿真平台URWPGSim2D是对水中机器人进行仿真测试的平台,由北京大学智能控制实验室组织开发,真实模拟仿真机器鱼各个关节的位姿变化,运动状态变化及机器鱼水球比赛运行等状况.基于 URWPGSim2D 平台提供的策略,经过大量实验对比,对水中机器人在仿真环境下的稳定性进行深入研究,意在提高水中机器人的稳定性,从而提高仿真比赛项目策略的健壮性,进而为未来实体水中机器人奠定良好的算法基础.该策略实现的比赛程序在2016年国际水中机器人大赛中荣获二等奖,表明了策略的有效性.

Robot Fish Stability and Route Planning Based on URWPGSim2D Platform

Water Robot Water Ball Competition 2D Simulation Platform URWPGSim2D is a platform for simulation testing of water robots. It is developed by the Peking University Intelligent Control Laboratory. It simulates the joint gesture changes of robot fish, motion state change and robot fish water ball completion running and so on. The strategy is based on URWPGSim2D platform, through large amount of test completion, research on the water robot stability under simulation environment, which aims to improve the stability of the underwater robot. Further, it can be used to improve the robustness of the simulation project strategy and lay a good foundation of algorithm, for the solid water robots in future. This strategy has achieved the game program in the 2016 International Water Robot Competition won the second prize, which indicates its effectiveness.