检索结果-南通市图书馆

Design of Deep Reinforcement Learning Controller Through Data-assisted Model for Robotic Fish Speed Tracking

Journal of Bionic Engineering 2023年第3期20卷 953-966页

作者： palmani duraisamy Manigandan Nagarajan Santhanakrishnan Amirtharajan Rengarajan Robotics Lab School of EEESASTRA Deemed UniversityThanjavurTamil Nadu613401India Department of ECE School of EEESASTRA Deemed UniversityThanjavurTamil Nadu613401India

It is common for robotic fish to generate thrust using reactive force generated by the tail’s physical motion, which interacts with the surrounding fluid. The coupling effect of the body strongly correlates with this thrust. However, hydrodynamics cannot be wholly modeled in analytical form. Therefore, data-assisted modeling is necessary for robotic fish. This work presents the first method of its kind using Genetic Algorithm (GA)-based optimization methods for data-assistive modeling for robotic fish applications. To begin, experimental data are collected in real time with the robotic fish that has been designed and fabricated using 3D printing. Then, the model’s influential parameters are estimated using an optimization problem. Further, a model-based deep reinforcement learning (DRL) controller is proposed to track the desired speed through extensive simulation work. In addition to a deep deterministic policy gradient (DDPG), a twin delayed DDPG (TD3) is employed in the training of the RL agent. Unfortunately, due to its local optimization problem, the RL-DDPG controller failed to perform well during training. In contrast, the RL-TD3 controller effectively learns the control policies and overcomes the local optima problem. As a final step, controller performance is evaluated under different disturbance conditions. In contrast to DDPG and GA-tuned proportional-integral controllers, the proposed model with RL-TD3 controller significantly improves the performance.

关键词： Bioinspired robot Data-assisted model Genetic algorithm Reinforcement learning control Robotic fish

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Design,Modeling,and Control of Biomimetic Fish Robot:A Review

引用

Journal of Bionic Engineering 2019年第6期16卷 967-993页

作者： palmani duraisamy Rakesh Kumar Sidharthan Manigandan Nagarajan Santhanakrishnan Robotics Laboratory Department of Electronics and Instrumentation EngineeringSASTRA Deemed UniversityThanjavurTamil Nadu-613401India

A comprehensive review on bio-inspired fish robots has been done in this article with an enhanced focus on swimming styles,actuators,hydrodynamics,kinematic-dynamic modeling,and *** styles such as body and/or caudal fin and median and/or paired fin and their variants are discussed in *** shows that most fish robots adapt carangiform in body and/or caudal fin type swimming as it gives significant thrust with a maximum speed of 3.7 ms 1 in *** of smart or soft actuators to enhance real-time dynamics was studied from literature,and it was found that the robot built with polymer fiber composite material could reach a speed of 0.6 m s However,dynamic modeling is relatively complex,and material selection needs to be *** numerical and analytical methods in dynamic modeling have been investigated highlighting merits and *** parameter estimation through the data-driven model is widely used in offline,however online estimation of the same need to be *** controllers are frequently used tor navigation and stabilization,which often encounters the linearization problem and hence,can be replaced with the state-of-the-art adaptive and intelligent *** article also summarizes the potential research gaps and future scopes.

关键词： biomimetic fish robot swimming modes hydrodynamic modeling motion control smart actuators

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：