基于URWPGSim2D平台的北斗切线顶球算法优化

Beidou Tangential Ball-pushing Algorithm Based on URWPGSim2D Platform

针对国际水中机器人大赛(International Underwater Robot Competition,URC)2D仿真项目平台URWPGSim2D(underwater robot water polo game simulator 2Dimension edition)底层经典顶球算法的不足,对其进行解析和优化。结合多年参赛经验积累和对已有带球算法解析,提出基于角度决策的"北斗切线顶球"算法,通过角度判定使仿真鱼根据角度的范围选择最佳的运动策略。实验结果表明,该算法可提高机器鱼带球效率和稳定性。

In view of the shortcomings of the classical ball-pushing algorithm in the bottom layer of URWPGSim2D simulation platform, a 2D simulation project platform of international underwater robot competition, this paper analyzes and optimizes it. Combined with years of experience and analysis of the existing dribbling algorithm, this paper puts forward the "Beidou tangential ball-pushing" algorithm based on angle arbitration, which makes the simulation fish choose the best movement strategy according to the range of angle. Experimental results show that the algorithm can improve the efficiency and stability of robot fish with the ball.