利用关系因子解决机器鱼的转向问题

Using the relationship factor to solve the turning issue of the robotic fish

本文以单鱼顶球为例,根据鱼到击球点的方向与鱼球到球门中心位置方向的相对夹角,划分进攻区域,同时根据鱼的方向与鱼到击球点的方向的相对夹角划分鱼的方向状态。在确定进攻区域和方向状态后,考虑关系因子的权重,参考关系因子设计动作,最后经过实验的反复调试、校正、制定出有效地动作集。

Single fish pushing ball is taken for an example in this paper.Pushing region is divided according to the relative angle between the direction from fish to pushing point and the direction from ball to gate.At the same time ,the direction state of the fish is divided in accordance with the relative angle between the direction of the fish and the direction from fish to the pushing point.After determing the Pushing region and the direction state,considering the weight of the relation factor ,design the action referring g the relation factor. Then effective action set is developed after repeated experimental testing and calibration