一种水中机器人协作顶球策略

针对国际水中机器人大赛全局视觉组水中协作顶球项目，提出一种有效的多鱼协作顶球方法。从速度控制、方向控制、多鱼协作和顶球动作4 个方面制定整体策略，进行特殊位置的设计，让机器鱼交替顶球，并经过反复测试。测试结果表明：该策略能提高机器鱼的顶球效率，更加有效地完成比赛任务，已在2018 年国际水中机器人大赛中获得冠军。

A Strategy of Topping Ball by Cooperative Underwater Robots

According to the underwater collaborative ball-scrambling project in the global vision group of theInternational Under-Water Robot Competition, we pose an effective multi-robot ball-scrambling strategy. In terms of thefour aspects of speed control, direction control, multi-fish cooperation and heading action, the overall strategy isformulated to design the special position. The robotic fish alternates the topping ball has been tested repeatedly. Theapplication in the case illustrates that the overall strategy has increased the robot fish efficiency in the ball scramblingcompetition and completed the game task more effectively. In addition, it has won the championship in the 2018International Water Robot Competition.