CN113703464A - 2D simulated fish heading control method - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention discloses a 2D simulation fish heading control method, which comprises the following steps: calculating an angle deviation threshold value caused by a water wave random interference function according to the ideal ball hitting point, the fish head and the coordinate point of the target position; selecting a heading strategy according to the angle deviation threshold, and performing heading action according to the heading strategy when the simulated fish moves to the target position; and judging whether the ball pushing action is finished or not according to the distance between the center of the ball and the target position, if so, finishing, and if not, circularly executing the steps. The invention can construct the entity environment by means of analog simulation, and can obtain the research and development target with controllable cost.
Description
Technical Field
The invention relates to a top ball control method of a 2D (two-dimensional) simulated fish, belonging to the technical field of simulated fish.
Background
With the continuous deepening of the aquatic strategy in China, the aquatic bionic technology gets more and more attention, the aquatic bionic robot realizes the functions of underwater target detection and identification, underwater navigation (positioning), water surface battlefield simulation, energy collection and the like on the basis of a cybernetics and a system theory, and practical application products of the aquatic bionic robot are more and more extensive in the field of underwater science and technology application. However, the underwater bionic robot is expensive and has high research and development cost; in order to solve the problems, the application provides a 2D simulated fish heading control method.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a 2D simulated fish heading control method, which is used for constructing a physical environment by means of simulation and can obtain a research and development target with controllable cost.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a 2D (two-dimensional) simulation fish heading control method, which comprises the following steps:
calculating an angle deviation threshold value caused by a water wave random interference function according to the ideal ball hitting point, the fish head and the coordinate point of the target position;
selecting a heading strategy according to the angle deviation threshold, and performing heading action according to the heading strategy when the simulated fish moves to the target position;
judging whether the ball pushing action is finished or not according to the distance between the center of the ball and the target position, if so, finishing, and if not, circularly executing the steps;
and the coordinate point of the ideal hitting point is obtained according to the fish head of the simulated fish, the sphere center of the sphere and the initialization coordinate point of the target position.
Preferably, the obtaining of the coordinate point of the ideal hitting point includes:
making a straight line based on the fish head coordinate point and the spherical center coordinate point;
if the coordinate point of the target position is on one side of the straight line, two symmetrical tangent lines are made to the collision circle of the sphere through the coordinate point of the fish head, two tangent points are obtained, and the tangent point on the other side of the straight line is taken as an ideal hitting point;
if the coordinate point of the target position is on the straight line, two intersection points of the straight line and a collision circle of the sphere are obtained, and the intersection point far away from the target point is taken as an ideal hitting point;
wherein the collision circle of the sphere is a central section of the sphere appearing on 2D.
Preferably, the calculating the angle deviation threshold caused by the water wave random interference function includes:
making a triangle according to the ideal hitting point, the fish head and the coordinate point of the target position, and solving a first included angle value with the ideal hitting point as a vertex according to the cosine law;
making a triangle according to the ideal hitting point, the fish head offset and the coordinate point of the target position under the water wave random interference function, and solving a second included angle value taking the ideal hitting point as a vertex according to the cosine law;
and obtaining an angle deviation threshold value according to the absolute value of the difference value of the angle value of the first included angle and the angle value of the second included angle.
Preferably, the selecting a heading strategy according to the angle deviation threshold includes:
if the angle deviation threshold is less than or equal to 30 degrees, adopting a linear ball jacking algorithm as a ball jacking strategy;
if the angle deviation threshold value is larger than 30 degrees and smaller than or equal to 180 degrees, an arc cut-in dome ball algorithm is adopted as the top ball strategy.
Preferably, the straight line heading algorithm includes:
when the angle value of the first included angle is less than 5 degrees, the direction of the simulated fish is unchanged, and the speed is 14 grades of the preset grade;
when the angle value of the first included angle is more than or equal to 5 degrees and less than 20 degrees, the direction of the simulated fish turns at a preset gear 6-5 or 8-9, and the speed is at a preset level of 12;
when the angle value of the first included angle is more than or equal to 20 degrees and less than 40 degrees, the direction of the simulated fish turns at a preset gear 4-3 or 10-11, and the speed is at a preset level of 8;
when the angle value of the first included angle is more than or equal to 40 degrees and less than 60 degrees, the direction of the simulated fish turns at a preset gear 2-1 or 12-13, and the speed is at a preset level 2;
when the angle value of the first included angle is more than or equal to 60 degrees and less than or equal to 180 degrees, the direction of the simulated fish turns at a preset gear 0 or 14, and the speed is at a preset grade 0 level;
the preset speed level is 0-14 levels, and the preset speed levels are 15 levels and are sequentially increased; the preset gears in the direction are 0-14 gears and 15 gears in total, 0-6 gears are left-turning gears and are sequentially decreased in number, 7 gears are unchanged in direction, and 8-14 gears are right-turning gears and are sequentially increased in number.
Preferably, the arc plunge dome algorithm comprises:
simulating a coordinate point of the tangential point towards which the fish is oriented;
wherein the obtaining of the coordinate point of the tangent point comprises:
making a tangent line to the incision circle of the sphere through the coordinate point of the fish head and obtaining a tangent point;
making a triangle according to the coordinate point of the fish head, the circle center of the incision circle and the tangent point, and solving the tangent length according to the pythagorean theorem;
calculating to obtain an arc deflection included angle according to the radius of the cut-in circle and the tangent length;
acquiring a coordinate point of the rotation center of the simulated fish, and calculating a direction vector by combining the coordinate point of the fish head;
calculating to obtain a rotation vector according to the direction vector and the arc deflection included angle;
calculating to obtain a coordinate point of the tangent point according to the rotation vector and the tangent length;
wherein the incised circle of the sphere is a central section of the sphere appearing in 2D.
Compared with the prior art, the invention has the following beneficial effects:
according to the method for controlling the top ball of the 2D simulated fish, the position of the simulated fish can be effectively and reasonably adjusted in each cycle period, the intelligent top ball which is in opposition to a water wave random interference function is realized, the speed and the stability of the top ball are improved, and the time for the top ball is shortened under the condition of deviation; the entity environment is constructed by means of simulation, and a research and development target with controllable cost can be obtained.
Drawings
FIG. 1 is a flow chart of a method for controlling a 2D simulated fish heading according to an embodiment of the invention;
FIG. 2 is a first schematic diagram of obtaining an ideal hitting point according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of obtaining an ideal hitting point according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a third exemplary embodiment of an ideal hitting point acquisition;
fig. 5 is a schematic diagram of obtaining an angle deviation threshold according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
the embodiment performs simulation based on URWPGSim2D platform:
as shown in fig. 1, the present embodiment provides a method for controlling a heading of a 2D simulated fish, including the following steps:
step 1, obtaining a coordinate point of an ideal hitting point T according to an initialization coordinate point of a fish head F of the simulated fish, a sphere center C of the sphere and a target position S; the method specifically comprises the following steps:
step 1.1, making a straight line based on a coordinate point of a fish head F and a coordinate point of a sphere center C;
step 1.2, if the coordinate point of the target position S is on one side of the straight line, making two symmetrical tangent lines to the collision circle of the sphere through the coordinate point of the fish head F, obtaining two tangent points, and taking the tangent point on the other side of the straight line as an ideal batting point T; as shown in fig. 2;
step 1.3, if the coordinate point of the target position S is on a straight line, acquiring two intersection points of a collision circle of the straight line and a ball body, and taking the intersection point far away from the target point as an ideal hitting point T; as shown in fig. 3-4;
wherein the collision circle of the sphere is a central section of the sphere appearing on 2D.
Step 2, calculating an angle deviation threshold value caused by a water wave random interference function according to the ideal hitting point, the fish head and the coordinate point of the target position; the method specifically comprises the following steps:
step 2.1, as shown in fig. 5, making a triangle according to coordinate points of an ideal hitting point T, a fish head F and a target position S, and solving a first included angle value & lt FTS with the ideal hitting point T as a vertex according to a cosine law;
acquiring an angle value of the FTS, wherein the FTS is more than or equal to 0 degree and less than or equal to 180 degrees;
step 2.2, according to a water wave random interference function, making a triangle according to an ideal hitting point T, a fish head offset F 'and a coordinate point of a target position S, and solving a second included angle value & lt F' TS with the ideal hitting point T as a vertex according to a cosine theorem;
acquiring an angle value of an angle F 'TS, wherein the angle value of the angle F' TS is more than or equal to 0 degree and less than or equal to 180 degrees;
and 2.3, obtaining an angle deviation threshold value xzdangle according to the difference value of the angle value of the first included angle and the angle value of the second included angle, wherein xzdangle is | < F' TS- < FTS |.
Step 3, selecting a heading strategy according to the angle deviation threshold, and performing heading action according to the heading strategy when the simulated fish moves to the target position;
the angle deviation threshold value selection heading strategy specifically comprises the following steps:
if the angle deviation threshold is less than or equal to 30 degrees, adopting a linear ball jacking algorithm as a ball jacking strategy;
if the angle deviation threshold value is larger than 30 degrees and smaller than or equal to 180 degrees, an arc cut-in dome ball algorithm is adopted as the top ball strategy.
The straight line heading algorithm comprises the following steps:
when the angle value of the first included angle is less than 5 degrees, the direction of the simulated fish is unchanged, and the speed is 14 grades of the preset grade;
when the angle value of the first included angle is more than or equal to 5 degrees and less than 20 degrees, the direction of the simulated fish turns at a preset gear 6-5 or 8-9, and the speed is at a preset level of 12;
when the angle value of the first included angle is more than or equal to 20 degrees and less than 40 degrees, the direction of the simulated fish turns at a preset gear 4-3 or 10-11, and the speed is at a preset level of 8;
when the angle value of the first included angle is more than or equal to 40 degrees and less than 60 degrees, the direction of the simulated fish turns at a preset gear 2-1 or 12-13, and the speed is at a preset level 2;
when the angle value of the first included angle is more than or equal to 60 degrees and less than or equal to 180 degrees, the direction of the simulated fish turns at a preset gear 0 or 14, and the speed is at a preset grade 0 level;
the preset speed level is 0-14 levels, and 15 levels are added in sequence; the preset gears in the direction are 0-14 gears, 15 gears in total, 0-6 gears in left rotation are sequentially decreased, 7 gears in the direction are unchanged, and 8-14 gears in right rotation are sequentially increased.
The arc plunge dome ball algorithm comprises:
simulating a coordinate point of the tangential point towards which the fish is oriented;
wherein, the acquisition of the coordinate point of the tangent point comprises:
making a tangent line to the incision circle of the sphere through the coordinate point of the fish head and obtaining a tangent point;
making a triangle according to the coordinate point of the fish head F', the circle center C of the incision circle and the tangent point, and solving the tangent length according to the pythagorean theorem
A modulo length as a rotation vector;
calculating the included angle of deflection of the arc line according to the radius r of the incised circle, namely CT, and the length of the incised line
Coordinate points (C.a, C.b) of the rotation center of the simulated fish are obtained, and a direction vector U.x which is (C.a-F '. x)/d and U.y which is (C.b-F'. y)/d are calculated by combining the coordinate points (F '. x, F', y) of the fish head;
calculating a rotation vector Q.x ═ U.x ═ cos (|) to U.y | _ sin (| _ angle |), Q.y ═ U.x | _ sin (| _ angle |) -U.y | _ cos (|);
calculating a coordinate point Q.x (Q.x d + F '. x) and Q.y (Q.y d + F'. y) of the tangent point according to the rotation vector and the tangent length;
wherein, the incised circle of the sphere is a central section of the sphere appearing on 2D.
And 4, judging whether the ball pushing action is finished or not according to the distance between the sphere center of the sphere and the target position (generally, the distance is less than or equal to 15 pixels, and one pixel is a coordinate point), if so, finishing, and if not, circularly executing the steps 2-4.
According to the method for controlling the heading of the 2D simulated fish, the position of the simulated fish is effectively and reasonably adjusted in each cycle period, intelligent heading against an interference function of a bottom platform URWPGSim2D is achieved, heading speed and heading stability are improved, and heading time is shortened under the condition of deviation.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A2D artificial fish heading control method is characterized by comprising the following steps:
calculating an angle deviation threshold value caused by a water wave random interference function according to the ideal ball hitting point, the fish head and the coordinate point of the target position;
selecting a heading strategy according to the angle deviation threshold, and performing heading action according to the heading strategy when the simulated fish moves to the target position;
judging whether the ball pushing action is finished or not according to the distance between the center of the ball and the target position, if so, finishing, and if not, circularly executing the steps;
and the coordinate point of the ideal hitting point is obtained according to the fish head of the simulated fish, the sphere center of the sphere and the initialization coordinate point of the target position.
2. The method as claimed in claim 1, wherein the obtaining of the coordinate point of the ideal hitting point comprises:
making a straight line based on the fish head coordinate point and the spherical center coordinate point;
if the coordinate point of the target position is on one side of the straight line, two symmetrical tangent lines are made to the collision circle of the sphere through the coordinate point of the fish head, two tangent points are obtained, and the tangent point on the other side of the straight line is taken as an ideal hitting point;
if the coordinate point of the target position is on the straight line, two intersection points of the straight line and a collision circle of the sphere are obtained, and the intersection point far away from the target point is taken as an ideal hitting point;
wherein the collision circle of the sphere is a central section of the sphere appearing on 2D.
3. The method as claimed in claim 1, wherein the calculating the threshold of the angle deviation caused by the random interference function of the water wave comprises:
making a triangle according to the ideal hitting point, the fish head and the coordinate point of the target position, and solving a first included angle value with the ideal hitting point as a vertex according to the cosine law;
making a triangle according to the ideal hitting point, the fish head offset and the coordinate point of the target position under the water wave random interference function, and solving a second included angle value taking the ideal hitting point as a vertex according to the cosine law;
and obtaining an angle deviation threshold value according to the absolute value of the difference value of the angle value of the first included angle and the angle value of the second included angle.
4. The method as claimed in claim 3, wherein the selecting the heading strategy according to the angle deviation threshold comprises:
if the angle deviation threshold is less than or equal to 30 degrees, adopting a linear ball jacking algorithm as a ball jacking strategy;
if the angle deviation threshold value is larger than 30 degrees and smaller than or equal to 180 degrees, an arc cut-in dome ball algorithm is adopted as the top ball strategy.
5. The method as claimed in claim 4, wherein the linear heading algorithm comprises:
when the angle value of the first included angle is less than 5 degrees, the direction of the simulated fish is unchanged, and the speed is 14 grades of the preset grade;
when the angle value of the first included angle is more than or equal to 5 degrees and less than 20 degrees, the direction of the simulated fish turns at a preset gear 6-5 or 8-9, and the speed is at a preset level of 12;
when the angle value of the first included angle is more than or equal to 20 degrees and less than 40 degrees, the direction of the simulated fish turns at a preset gear 4-3 or 10-11, and the speed is at a preset level of 8;
when the angle value of the first included angle is more than or equal to 40 degrees and less than 60 degrees, the direction of the simulated fish turns at a preset gear 2-1 or 12-13, and the speed is at a preset level 2;
when the angle value of the first included angle is more than or equal to 60 degrees and less than or equal to 180 degrees, the direction of the simulated fish turns at a preset gear 0 or 14, and the speed is at a preset grade 0 level;
the preset speed level is 0-14 levels, and the preset speed levels are 15 levels and are sequentially increased; the preset gears in the direction are 0-14 gears and 15 gears in total, 0-6 gears are left-turning gears and are sequentially decreased in number, 7 gears are unchanged in direction, and 8-14 gears are right-turning gears and are sequentially increased in number.
6. The method as claimed in claim 4, wherein the arc cut dome algorithm comprises:
simulating a coordinate point of the tangential point towards which the fish is oriented;
wherein the obtaining of the coordinate point of the tangent point comprises:
making a tangent line to the incision circle of the sphere through the coordinate point of the fish head and obtaining a tangent point;
making a triangle according to the coordinate point of the fish head, the circle center of the incision circle and the tangent point, and solving the tangent length according to the pythagorean theorem;
calculating to obtain an arc deflection included angle according to the radius of the cut-in circle and the tangent length;
acquiring a coordinate point of the rotation center of the simulated fish, and calculating a direction vector by combining the coordinate point of the fish head;
calculating to obtain a rotation vector according to the direction vector and the arc deflection included angle;
calculating to obtain a coordinate point of the tangent point according to the rotation vector and the tangent length;
wherein the incised circle of the sphere is a central section of the sphere appearing in 2D.
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