Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning
文献类型：期刊论文
| 作者 | Wang, Yu4 ; Wang, Jian2,3; Kang, Song2,3; Yu, Junzhi1,3
|
| 刊名 | BIOMIMETICS
 |
| 出版日期 | 2024 |
| 卷号 | 9期号:1页码:19 |
| 关键词 | biomimetic motion biomimetic autonomous system target following deep reinforcement learning predictive control |
| DOI | 10.3390/biomimetics9010033 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | Biological fish often swim in a schooling manner, the mechanism of which comes from the fact that these schooling movements can improve the fishes' hydrodynamic efficiency. Inspired by this phenomenon, a target-following control framework for a biomimetic autonomous system is proposed in this paper. Firstly, a following motion model is established based on the mechanism of fish schooling swimming, in which the follower robotic fish keeps a certain distance and orientation from the leader robotic fish. Second, by incorporating a predictive concept into reinforcement learning, a predictive deep deterministic policy gradient-following controller is provided with the normalized state space, action space, reward, and prediction design. It can avoid overshoot to a certain extent. A nonlinear model predictive controller is designed and can be selected for the follower robotic fish, together with the predictive reinforcement learning. Finally, extensive simulations are conducted, including the fix point and dynamic target following for single robotic fish, as well as cooperative following with the leader robotic fish. The obtained results indicate the effectiveness of the proposed methods, providing a valuable sight for the cooperative control of underwater robots to explore the ocean. |
| WOS关键词 | TRACKING |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001149504000001 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55458]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 4.Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Yu,Wang, Jian,Kang, Song,et al. Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning[J]. BIOMIMETICS,2024,9(1):19. |
| APA | Wang, Yu,Wang, Jian,Kang, Song,&Yu, Junzhi.(2024).Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning.BIOMIMETICS,9(1),19. |
| MLA | Wang, Yu,et al."Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning".BIOMIMETICS 9.1(2024):19. |
入库方式： OAI收割
来源：自动化研究所
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