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In the water polo match, the key to win the match is to seek a rapid and precise goal method. To solve this problem, the non-precision goal algorithm based on fuzzy control is proposed in this paper. The relative position of the water polo and the robot fish is described as the input of the fuzzy control algorithm, a fuzzy controller is built according to the experience, defuzzification is achieved using the gravity-center method, and the output are the swimming angle and velocity of the robot fish at next moment. During the process, the robot fish adjusts its angle and velocity, then swims to the water polo and puts the ball into the goal. The results of simulation experiment based on the URWPGSim2D (Underwater Robot Water Polo Game Simulator 2 Dimension Edition) show that the algorithm proposed in this paper significantly reduces the goal time and improves the reliability. Keywords-goal algorithm; fuzzy control; robot fish

The Non-precision Goal Algorithm of Robot Fish Based on Fuzzy Control