Studying and Implementing for Water Transportation of 2D Simulation Water Robot

Water robot by the water, obstacles and their own swing, the process of moving objects randomly, controllable more difficult. Taking advantage of the multi-joint controllability of the robot fish, in view of the underwater transportation in the underwater robot competition, from the dynamic adjust the best orientation of dribbling, the flexible change of the way of dribbling and adjust the robotic fish control point in stages, These three aspects of the underwater robot of the ball method of the key technology for research and implementation. The flexible way of taking the ball adopts the method of adjusting the position and posture of the robot fish based on stages to solve the problem that the single ball way is easily disturbed and cannot reach the target position stably. By constantly sensing the relative position between the robot and the ball and the target point, the simulation robotic fish can calculate the optimal heading by using the mathematical formula. So as to effectively accomplish the purpose of fixed-point water handling. The algorithm won the second prize of 2D simulation underwater transportation at the 2016 International Robot Contest. The research on the flexible dribbling method and the automatic searching for the optimal heading position strategy provide reference for the future research on the control of intelligent waterborne robots.