2D仿真机器鱼5VS5项目策略的的研究.docVIP

2D仿真机器鱼5VS5项目策略研究 赵国冬 (哈尔滨工程大学，哈尔滨 150000 摘要： 关键词：；； The 2D Simulation Robotic Fish 5VS5 Project Strategy Research Zhao Guodong (Computer Science and Technology College, Harbin Engineering University, harbin 150000, China) Abstract: For 2D simulation water fish project 5vs5 platform and the rules of the game, in order to make our water in 5 vs5 fish is in the lead, in view of the 2D simulation game fish is a kind of the antagonism of football game, similar to the water ball algorithm is particularly important. Put forward according to different regions, different ball algorithm is put forward, namely attack, using the apex ball of the basic algorithm, defense, use according to the relative position request location algorithm. In attack and defence, prevent the foul comprehensive factors such as cases, in different situations to choose the most suitable ball algorithm. In order to make our water fish make full use of field advantage, our fish in water are role allocation, and to control the speed and direction of the water fish and optimization. For the simulation of water fish direction control key, is to let the water fish smooth deflection, make it more stable and more quickly to find your target. After the experiment proved that the optimized ball algorithm and strategy to make the water fish give full play to the advantages in the game, the ball successfully in a shorter time. Key words: Ball algorithm, role assignment, speed control, direction control 0 引言 1 平台简介 URWPGsim2D（Underwater Robot Water Polo Game Simulator 2D Edition）是水中机器人水球比赛仿真2D版软件，软件可在Windows XP Professional SP3，Windows Vista或Windows 7系统中运行[5]。作为 “中国水中机器人大赛”和“中国机器人大赛暨RobuCup中国公开赛”之水中机器人竞赛的2D仿真组比赛平台，URWPGsim2D平台的设计采用面向对象思想，从对象建模的角度看，包括仿真机器鱼、仿真环境和仿真使命三类模型，其中以仿真使命为中心。 2D仿真水球5VS5比赛有两支队伍参加，每队各五条鱼，初始分别位于场地左右两侧，一个仿真水球位于开球点，处于左侧的队伍先发球。针对某一方参赛队伍，定义前场虚线为进攻线，后场虚线为防守线。每支队伍的1号仿真机器鱼可以在整个场地范围游动，为自由球员；第2、3号仿真机器鱼不能越过进攻线，为后防队员；第4、5号仿真机器鱼不能游回防守线内，为进攻球员。每支队伍的仿真机器鱼应按照以上规则运动，否则视为犯规。 比赛开始后，双方仿真机器鱼在各自策略驱动下运动，在比赛过程