基于弦端点法的机器鱼寻迹策略

为进一步缩短机器鱼寻迹顶球所走的路径,提高机器鱼找目标点的效率,提出一种基于弦端点法的机器鱼寻迹策略。在对切入圆算法改进的基础上,给出弦端点法的总体思路,通过作辅助圆弦中垂线的方法给机器鱼具有很好连贯性且逐渐逼近最佳击球点的一系列目标点。对2种算法的寻迹情况进行比较的结果表明:该策略能使机器鱼在寻找目标点时游动路径更短、轨迹更光滑,从而更好地实现顶球射门。

Tracing Strategy of Robot Fish Based on String Endpoint Algorithm

For shorting the tracing path of robot fish heading ball, and improving the efficiency of finding out target point, the writer introduces the tracing strategy of robot fish based on string endpoint algorithm. Based on improvement of tangent circle algorithm, give the design for string endpoint algorithm. Offer a series continuous target points for robot fish, by approaching the best contact point as close as possible by drawing the perpendicular bisector of an auxiliary circle＇s string. Compare tracing situations of 2 algorithms, the results show that the strategy promotes a shorter tracing path, which result in a smoother track when fish head the ball into the goal.