水中机器人2D仿真平台的直线优化算法

摘要

基于 URWPGSim2D 仿真平台,提出在水中搬运项目上的一种直线优化算法.分析仿真机器鱼的运动特性,介绍2D仿真机器鱼现有的point to point算法,给出优化后的直线算法,并通过实验进行验证.实验结果表明:优化后的算法能有效提高机器鱼的稳定性,能更好地进行控制,可为水中机器人其他项目仿真鱼的控制提供参考.%Based on URWPGSim 2D simulation platform, a linear optimization algorithm to transport items in water is put forward. Analyze the kinetic characteristic of the simulation robot fish. Introduces the point to point algorithm commonly used in 2D simulation robot fish, gives the optimized straight line algorithm and verify the algorithm by experiment. The experiment result shows that the optimization algorithm is able to enhance stability of the robot fish and better control, providing reference for other robot in water to control simulation fish at the same time.