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Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle

文献类型：期刊论文

作者Wang, Yu1,2; Chu, Hongfei2; Ma, Ruichen2; Bai, Xuejian3; Cheng, Long1,2; Wang, Shuo1,2; Tan, Min2
刊名RESEARCH
出版日期2024-01-30
卷号7页码:11
ISSN号2096-5168
DOI10.34133/research.0299
通讯作者Ma, Ruichen(maruichen2016@ia.ac.cn) ; Cheng, Long(long.cheng@ia.ac.cn) ; Tan, Min(min.tan@ia.ac.cn)
英文摘要This paper addresses a learning-based discontinuous path following control scheme for a biomimetic underwater vehicle (BUV) driven by undulatory fins. Despite the flexibility of the BUV motion, it faces the challenge of dealing with discontinuous paths affected by irregular seafloor topography and underwater vegetation. Therefore, BUV must employ path switching strategy to navigate to the next safe area. We introduce a discontinuous path following control method based on deep reinforcement learning (DRL). This method uses the line of sight (LOS) navigation algorithm to provide the Markov decision process (MDP) state inputs and the soft actor-critic (SAC) algorithm to train the control strategy of the BUV. Unlike the traditional fixed waveform control method, this method encourages the BUV to learn different waveforms and fluctuation frequencies through DRL. At the same time, the BUV has the ability to switch to a new path at necessary moments, such as when encountering underwater rocks. The results of simulations and experiments demonstrate the successful integration of the undulatory fins with the SAC controller, showcasing its efficacy and diversity in discontinuous underwater path following tasks.
资助项目Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[62073316] ; Youth Innovation Promotion Association CAS[Y2022053] ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing[KZ2022 10017024]
WOS研究方向Science & Technology - Other Topics
语种英语
WOS记录号WOS:001184300300001
出版者AMER ASSOC ADVANCEMENT SCIENCE
资助机构Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing
源URL[http://ir.ia.ac.cn/handle/173211/56957]  
专题多模态人工智能系统全国重点实验室
通讯作者Ma, Ruichen; Cheng, Long; Tan, Min
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
3.Liaoning Univ Technol, Sch Elect Engn, Jinzhou, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Yu,Chu, Hongfei,Ma, Ruichen,et al. Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle[J]. RESEARCH,2024,7:11.
APA Wang, Yu.,Chu, Hongfei.,Ma, Ruichen.,Bai, Xuejian.,Cheng, Long.,...&Tan, Min.(2024).Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle.RESEARCH,7,11.
MLA Wang, Yu,et al."Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle".RESEARCH 7(2024):11.

入库方式： OAI收割

来源：自动化研究所

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