2D 仿真机器鱼协作过孔策略

在机器鱼2D仿真协作过孔比赛项目中,针对无球游动过程中固定路线的行进方法所存在的问题,提出一种优化策略。根据比赛规则,将比赛分为无球游动和带球运输2部分。在无球游动过程中,使用一种根据当前所处位置动态选择最优路线的路径优化思路。在带球运输部分,利用场地的特殊性使用机器鱼身体的所有部位运输。结果表明:优化后的策略能充分考虑该项目的得分要求和场地特点,在速度和稳定性上都有很大程度的提高。

Strategy of Hole-Crossing Collaboration of 2D Stimulation Robotic Fish

The optimized strategy is put forward with respect to the competition of the 2D stimulated collaboration of two robotic fish getting through the hole. According to competition rules, the completion is divided into two parts, namely without the ball and the ball moving transport. Without the ball in the process of swimming, the best possible route is chosen to adapt to different locations. In the transport part of the ball, characteristics of the competition terrain are fully utilized to take advantages of every part of the robotic fish to transport the ball. The consequence proves that the optimized strategy has taken both the requirements of scoring goals and the characteristics of the competition terrain into full account. Both speed and stability are greatly improved.