多关节鱼水中救援策略

针对多关节鱼水中救援项目,在单关节鱼的基础上,对多关节鱼在尽可能短的时间内完成救援任务提出了一种救援策略.策略在多关节鱼能够全部撞击到目标物的前提下,保证了在规定时间内即使多关节鱼未能完成任务,也可以取得一个相对高效的救援效果.策略中设计出了迪杰斯特拉路径规划方案的救援路线,采用了直接撞击函数和鱼头甩动函数相结合的救援方法.实验结果表明:该策略能够灵活调用多关节鱼,大大缩短了救援用时,增加了策略的稳定性,提高了救援效率,在实际应用中取得了较好的效果.

Strategy of Multi-joint Fish Underwater Rescue

In the multi-joint fish underwater rescue project, on the basis of the simple-joint fish, a rescue strategy is put forward. By this strategy the multi-joint fish can accomplish the rescue mission within the shortest possible time. In the case of hitting the entire target, strategy can achieve relative high rescue efficiency, though the multi-joint fish failed to finish the task within the allotted time. In this strategy, the rescue route plan scheme on the basis of Dijkstra thought is designed. Use the combination method of the direct impact function and the fish head swinging function. The experiment results show that this strategy can call the multi-joint fish flexibly. It shortens the total time of rescue obviously, increases the stability and improves the rescue efficiency. The strategy has achieved good result in practical application.