Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO
文献类型：期刊论文
| 作者 | Wang, Ming1; Dong, Huifang1; Li, Xu1; Zhang, Yanlu1; Yu, Junzhi2,3
|
| 刊名 | NEUROCOMPUTING
 |
| 出版日期 | 2019-04-14 |
| 卷号 | 337页码:144-152 |
| 关键词 | Central pattern generator (CPG) Motion optimization Bionic robotic fish Dynamic modeling PSO |
| ISSN号 | 0925-2312 |
| DOI | 10.1016/j.neucom.2019.01.062 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | Swimming speed and propulsive efficiency are critical indicators of a self-propelled bionic robotic fish in terms of swimming performance. This paper is devoted to achieving a maximum swimming speed and a higher propulsive efficiency for a four-joint robotic fish. A Newton-Euler method based dynamic model in conjunction with a central pattern generator (CPG) network serves to theoretically estimate fish-like swimming performance. In particular, each CPG unit based on limit cycles serves to drive one joint of the robotic fish. The overall CPG model is able to generate rhythmic signals for multimode swimming. To obtain the maximum average speed, a particle swarm optimization (PSO) algorithm is further utilized to optimize the feature parameters of the CPG model. Furthermore, the higher propulsive efficiency is sought within the same control framework. Simulations and experiments on the actual robotic fish demonstrate the improved propulsive performance and the effectiveness of the proposed control framework. (C) 2019 Elsevier B.V. All rights reserved. |
| WOS关键词 | DESIGN |
| 资助项目 | National Natural Science Foundation of China[61573226] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Beijing Natural Science Foundation[4161002] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000461165400012 |
| 出版者 | ELSEVIER SCIENCE BV |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/24982]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Shandong, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Ming,Dong, Huifang,Li, Xu,et al. Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO[J]. NEUROCOMPUTING,2019,337:144-152. |
| APA | Wang, Ming,Dong, Huifang,Li, Xu,Zhang, Yanlu,&Yu, Junzhi.(2019).Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO.NEUROCOMPUTING,337,144-152. |
| MLA | Wang, Ming,et al."Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO".NEUROCOMPUTING 337(2019):144-152. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。