Simulation Robotic Fish's Shooting Algorithm Based on Perpendicular Bisector Path Planning
Lyu Yexi · Ordnance Industry Automation · 2014
In order to increase the accuracy and efficiency of shooting during the attack of simulate robotic fishes,reduce the interference water wave and enemy to simulate robotic fishes,we designed a optimal path planning algorithm for shooting in vertical path based on the vertical of the center of simulate robotic fish's rigid body and the center of simulate water polo in this paper.The introduction of perpendicular path planning algorithm for optimal shooting,shot analysis algorithms for problems improved shooting algorithm gives the basic idea of the proposed algorithm implementation methods,and examples for simulation and evaluation were give in the paper.The algorithm has been successfully used the simulate robotic water polo competition of 1vs1,3vs3 and snooker water polo.The practice result shows that the algorithm has a concise and ingenious design and high attack efficiency,which could enable robotic fishes find a optimal path and shot in a very short time.