基于水波建模的交替式顶球改进算法

针对机器鱼比赛中出现的情况以及基本顶球算法的不足，设计一种基于水波建模的交替式顶球算法。在经典顶球算法的基础上，根据水波建模的相关理论，给出了基于水波建模的交替式顶球算法的具体思想，通过变换坐标系，使球以曲线的方式向前推进，利用水波建模对算法进行优化，提高顶球点的精度，从而减少误差，并对算法进行验证。实验结果表明，该算法可提高机器鱼顶球效率并缩短一次进球所需要的时间。

Alternating Ball-pushing Modified Algorithm Based on Water Wave Modeling

Based on water wave modeling, alternating ball-pushing modified algorithm is proposed to solve lack of the basic ball-pushing algorithms and some situations on the robotic fish water polo game. According to the classic ball-pushing algorithms and the theory based on water wave modeling, the modified algorithm transform the coordinate system and the robotic fish alternates to push ball and the ball forward in a curved manner. To improve the accuracy of the real-time geometry sites of the ball and reduce errors, the algorithm is optimized through water wave modeling. Results show that this ball-pushing algorithm can improve the efficiency of goals and shorten the goal time.