基于URWPGSim2D仿真平台的测试分析与策略改进

为了在国际水中机器人比赛的 URWPGSim2D 仿真平台中更准确地控制仿真鱼，通过对该平台进行测试分析以完善比赛策略，基于对平台的测试，总结分析平台特性和仿真鱼的行为规律，依此提出花样游泳项目竞技策略的改进方案。结果表明：结合平台分析结果改进后的策略可更有效地控制仿真鱼行为，使仿真鱼的行进过程更加快速稳定，从而在花样游泳比赛取得冠军成绩。

Testing and Strategy Improvement Based on URWPGSim2D Simulation Platform

To control the simulation fish more accurately in the URWPGSim2D simulation platform, this thesis test and analyze the simulation platform to improve competition strategy. Based on the platform testing, analyze the characters of the simulation platform and the behavior rules of the simulation fish. And thus proposes synchronized swimming improvement program competitive strategy. Analysis results show that: the improved strategy according to platform analysis results can be more effective in controlling the behavior of simulation fish, especially the simulation fish moving process become more quickly and stabilized, to get the champion in 2D simulation water polo Synchronized Swimming of the International Competition of Underwater Robot 2015.