基于区域划分和边角处理的机器鱼协作策略

针对水中机器人全局视觉水球2VS2比赛中出现的水球位于边角的特殊情况，提出一种基于比赛场地的区域划分和边角处理的协作比赛策略。通过对比赛场地的划分，划定了2条机器鱼各自负责的区域，并利用机器鱼顶球方式建立机器鱼运动模型。基于水球位于4个边角的问题，讨论了3种协作方式的利弊，得出执行边角处理时采用1条机器鱼处理边角球，1条机器鱼游到合适的位置进行防守的协作策略为最优。在水中机器人平台上进行协作顶球实验验证，实验结果表明：该方法缩短了处理边角球、边界球的时间，提高了机器鱼的协作和进攻效率，使得水球总是朝着有利于己方的方向运动。

Cooperative Strategy of Robot Fish Based on Region Partition and Edge Corner Processing

For the special circumstances, which in underwater robot global vision water polo 2VS2 games water polo is located in the edge corner, a venue of the regional partition and edge corner processing based on cooperative game strategy is proposed in this paper. The competition area is divided into different parts that two robotic fishes are separately responsible for their own part, and robotic fish motion model is established by using the ball-pushing movement. Based on the problem that water polo is located in the four edge corners, we discussed the advantages and disadvantages of the three kinds of collaboration, find the cooperative strategy which one robotic fish processes the edge corner case and at the same time the other fish swims to the suitable position for defense is the best. The experimental results that executed in the underwater robot platform show that: this strategy can improve the cooperation ability and scoring efficiency of two robot fishes, shorten the time of processing water polo which is located in edge corner and make water polo movement always in our favor.