基于有效区域和有效方向的全局顶球策略

Ball-pushing Strategy Based on Available Location and Available Direction

为了使机器鱼的顶球兼备速度性和连贯性并提高进球效率,提出一种基于有效区域和有效方向的顶球算法。在分析典型的顶球算法的基础上,从鱼、球、球门三者的相对位置出发,判断是否在有效区域和有效方向上,并以单机器鱼顶球为实验任务,并对该策略进行了验证。实验结果证明,该方法能有效缩短一次进球所需要的时间。

In order to make the ball-pushing movement fast and coherent, and to improve the efficiency of goals, an algorithm based on available location and available direction was proposed. On the basis of analyzing the basic ball-pushing algorithms and the relative position among fish, ball and goal, the algorithms decides if the robotic fish is in the available location and available direction. Validate the algorithm by a ball-pushing experiment on the robotic fish water polo game platform. Results show this ball-pushing algorithm can largely shorten one goal time.