robotic fish - 信息工程學(xué)院

1、仿真機(jī)器人足球,信息工程學(xué)院羅忠文Email: lzw63@sina.comHomepage: http://xgxy.cug.edu.cn/rjgcx/lzw/robot,仿真機(jī)器人足球,引論：安裝程序基于LINGO語(yǔ)言的開(kāi)發(fā)平臺(tái)運(yùn)行機(jī)制基于VC++語(yǔ)言的開(kāi)發(fā)總體開(kāi)發(fā)流程,安裝程序,點(diǎn)擊下一步，下一步程序在什么地方：C盤(pán)相關(guān)目錄一個(gè)是在STRATEGY另一個(gè)是在PROGRAM　FILE下玩一下,基于LINGO

2、的程序(Blue),global B1,B2,B3,B4,B5,ballon strategyBVelocity(B1,0,0)Velocity(B2,0,0)Velocity(B3,0,0)Velocity(B4,0,0)Velocity(B5,0,0)end strategyB,基于LINGO的程序(0.0),global y1,y2,y3,y4,y5,ballon strategyYVelocit

3、y(y1,0,0)Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,0,0)Velocity(y5,0,0)end strategyY,基于LINGO的程序(0.1),global y1,y2,y3,y4,y5,ballon strategyYVelocity(y1,0,0)Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,

4、5,5)　?。ㄗ笄颁h）Velocity(y5,5,0)end strategyY,基于LINGO的程序(0.2),global y1,y2,y3,y4,y5,ballon strategyYVelocity(y1,5,5)　　　　方向問(wèn)題Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,5,5)　　　　Velocity(y5,5,0)end strategyY,基于L

5、INGO的程序(1.0),global y1,y2,y3,y4,y5,ballon strategyYGaolie(y1)Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,0,0)　　　　Velocity(y5,0,0)end strategyYon Gaolie(whichBot)vl=5vr=5Velocity(whichBot,vl,vr)end G

6、aolie,基于LINGO的程序(1.1),global y1,y2,y3,y4,y5,ballon strategyYGaolie(y1)Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,0,0)　　　　Velocity(y5,0,0)end strategyYon Gaolie(whichBot)vl=Ball.y-whichBot.pos.yvr=Ball

7、.y-whichBot.pos.yVelocity(whichBot,vl,vr)end Gaolie,基于LINGO的程序(1.2),global y1,y2,y3,y4,y5,ballon strategyYGaolie(y1)Velocity(y2,0,0)Velocity(y3,0,0)Velocity(y4,0,0)　　　　Velocity(y5,0,0)end strategyY,on Gao

8、lie(whichBot)vl=Ball.y-whichBot.pos.yvr=Ball.y-whichBot.pos.y--------校正角度-------------------- 　　tR = whichBot.rot.z 　　if tR 360.001 then tR = tR - 360 　　if tR > 90.5 then 　　　　vl = vl + abs(tR - 90)　　 e

9、lse if tR < 89.5 then vr = vr + abs(tR - 90) end if --------------------Velocity(whichBot,vl,vr)end Gaolie,運(yùn)行機(jī)制,每秒60次決策傳入決策程序中的是球、小車(chē)等的位置. 通過(guò)寫(xiě)速度，來(lái)對(duì)小車(chē)實(shí)施控制每次根據(jù)當(dāng)前的狀態(tài)進(jìn)行判斷，作出決策使用注意兩種程序（不

10、同的選項(xiàng)）:LINGO和C幫助信息（參見(jiàn)隨機(jī)的幫助）這里提供了大量的信息如厘米與英尺的轉(zhuǎn)換等,比賽規(guī)則,擺球規(guī)則自由球規(guī)則點(diǎn)球規(guī)則,基于VC的程序,編寫(xiě)程序進(jìn)行調(diào)試修改后再做處理,基于VC的程序－調(diào)試,函數(shù)化（過(guò)程化）調(diào)試辦法１（在線(xiàn)輸出：OpenViewer）調(diào)試辦法２（輸出信息）FILE * debugfile; dfile = fopen("debugfile.txt","a

11、"); fprintf(dfile, "x: %f y: %\n", robot->pos.x, robot->pos.y); fclose(debugfile);,守門(mén)員函數(shù)的修改,回到一個(gè)四方塊中if (fabs(FRIGHTX-robot->pos.x) > 6.) {Position(robot,FRIGHTX, 35);return ;}固

12、定到-90度（或者270度）if (fabs(robot->rotation+90)> 2 ) {robot->velocityLeft=robot->rotation+90;robot->velocityRight=-robot->rotation-90;return ;},守門(mén)員函數(shù)調(diào)試要點(diǎn),對(duì)照檢查：發(fā)現(xiàn)大于小于的問(wèn)題C語(yǔ)言：if ( Ay > Ty -

13、 0.9 && Ay fieldBounds.top - env->currentBall.pos.y;double Ty = FTOP - env->currentBall.pos.y;,總體開(kāi)發(fā)流程-分層開(kāi)發(fā),上層：陣形確定與設(shè)計(jì)進(jìn)攻、防守固定角色、智能角色中層：角色分配路徑規(guī)劃下層基本動(dòng)作組合動(dòng)作,基本動(dòng)作函數(shù)設(shè)計(jì),球預(yù)測(cè)void PredictBall ( Environment

14、 *env ){double dx = env->currentBall.pos.x - env->lastBall.pos.x;double dy = env->currentBall.pos.y - env->lastBall.pos.y;env->predictedBall.pos.x = env->currentBall.pos.x + dx;env->predicte

15、dBall.pos.y = env->currentBall.pos.y + dy;},基本動(dòng)作函數(shù)－轉(zhuǎn)角函數(shù),void Angle ( Robot *robot, int desired_angle){int theta_e, vl, vr;theta_e = desired_angle - (int)robot->rotation;while (theta_e > 180) theta_e -= 3

16、60;//將角度差劃到-180到180while (theta_e 90) theta_e -= 180;if (abs(theta_e) > 50) {vl = (int)(-9./90.0 * (double) theta_e);vr = (int)(9./90.0 * (double)theta_e);}else if (abs(theta_e) > 20){vl = (int)(

17、-11.0/90.0 * (double)theta_e);vr = (int)(11.0/90.0 * (double)theta_e);}Velocity (robot, vl, vr);},基本動(dòng)作函數(shù)－到定點(diǎn),void Position( Robot *robot, double x, double y ){int desired_angle = 0, theta_e = 0, d_angle = 0, vl

18、, vr, vc = 70;double dx, dy, d_e, Ka = 10.0/90.0;dx = x - robot->pos.x;dy = y - robot->pos.y;d_e = sqrt(dx * dx + dy * dy);if (dx == 0 && dy == 0)desired_angle = 90;elsedesired_angle = (in

19、t)(180. / PI * atan2((double)(dy), (double)(dx)));theta_e = desired_angle - (int)robot->rotation;while (theta_e > 180) theta_e -= 360;while (theta_e 100.) Ka = 17. / 90.;else if (d_e > 50)Ka = 19. /

20、 90.;else if (d_e > 30)Ka = 21. / 90.;else if (d_e > 20)Ka = 23. / 90.;else Ka = 25. / 90.;,基本動(dòng)作函數(shù)－到定點(diǎn),if (theta_e > 95 || theta_e 180) theta_e -= 360;if (theta_e > 80)theta_e = 80;if (

21、theta_e -85){if (d_e < 5.0 && abs(theta_e) < 40)Ka = 0.1;vr = (int)( vc * (1.0 / (1.0 + exp(-3.0 * d_e)) - 0.3) + Ka * theta_e);vl = (int)( vc * (1.0 / (1.0 + exp(-3.0 * d_e)) - 0.3) - Ka * thet