一种基于有限状态自动机的多鱼协作顶球算法

A Ball-Pushing Algorithm of Multiple Fish Collaboration Based on Finite State Automata

针对水中机器人比赛中多机器鱼协作顶球时出现的互相干扰的问题,提出一种基于有限状态自动机的多鱼协作顶球算法。从机器鱼运动特点以及水环境的特点出发,以单鱼顶球算法为基础,以有限状态自动机的思路建模,对每条机器鱼的动作决策进行规划,从而能够高效地完成每条机器鱼的路径规划并避免互相干扰,以达到高效顶球的效果。实验结果证明:该有限状态机能够触发每条鱼的状态动作的转换,最大可能地实现互不干扰地交互顶球,大大提高了在多鱼顶球时的效率。

Aiming at the problem of interfere in the process of multiple robot fish heading the ball in the underwater robot competition, a ball-pushing algorithm of multiple robot fish collaboration based on finite state automata is introduced. Consider the characteristics of the robot fish＇s movement and the water environment, and based on the ball-pushing algorithm of single robot fish, this paper establishes the mathematical model based on the finite state automata, and plans each robot fish＇s decision-making of the action. Thus each robot fish can achieve their path planning efficient without interfere with each other, so that multiple robot fish can achieve the effect of ball-pushing efficient. The result of tests shows that the finite state automata can trigger the status conversion of each fish and they can push the ball without interference, and greatly improves the efficiency in the process of multiple robot fish heading the ball.