| 基于URWPGSim2D 仿真新平台的花样游泳策略 |
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| 引用本文： | 贺明飞,马天增,谢良松. 基于URWPGSim2D 仿真新平台的花样游泳策略[J]. 兵工自动化, 2016, 35(12): 93-96. DOI: 10.7690/bgzdh.2016.12.025 |
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| 作者姓名： | 贺明飞 马天增 谢良松 |
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| 作者单位： | 内蒙古工业大学能源与动力工程学院,内蒙古 呼和浩特,010051;贵州大学机械工程学院,贵阳,550025 |
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| 摘 要： | 针对2016国际水中机器人大赛花样游泳项目的URWPGSim2D仿真新平台,提出仿真机器鱼的位姿变化、路径规划、规定动作和自由动作的实现策略.为完成在规定时间内实现规定动作和自由动作的大赛要求,采用分时准备的思想,提出动态判断调整函数和跟随距离函数算法,设计多个主题鲜明、具有创意的动作,并通过多次实验验证.实验结果表明:该策略能解决多条仿真机器鱼协作配合困难的问题,具有较高的观赏性.
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| 关 键 词： | 国际水中机器人大赛 URWPGSim2D仿真新平台 花样游泳策略 仿真机器鱼 跟随距离函数算法 |
| 收稿时间： | 2016-12-27 |
Synchronized Swimming Strategy Based on URWPGSim2D New Simulation Platform |
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| He Mingfei. Synchronized Swimming Strategy Based on URWPGSim2D New Simulation Platform[J]. Ordnance Industry Automation, 2016, 35(12): 93-96. DOI: 10.7690/bgzdh.2016.12.025 |
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| Authors: | He Mingfei |
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| Affiliation: | College of Energy & Power Engineering, Inner Mongolia University of Technology, Hohhot 010051, China |
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| Abstract: | Aiming at the of URWPGSim2D new simulation platform of the 2016 International Underwater Robot Competition, presents the realization strategies of simulation robot fish pose change, path planning, specified action, and free action. This paper aims to fulfill the requirements of the specified action and free action within the competition specified time, adopts the idea of time-sharing preparation, proposes the dynamic judgment and adjustment function and the follow distance function algorithm, and designs multiple strong thematic and creative actions, which have got experimental verification. The experimental results show that this method can solve the problem of cooperative cooperation of many simulation robot fish, and the robot fish action can be highly ornamental. |
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| Keywords: | International Underwater Robot Competition URWPGSim2D simulation new platform synchronized swimming strategy simulation robotic fish following distance function algorithm |
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