CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Parallel control and management system for biomimetic robotic fish based on ACP approach
Liu, Jincun; Wu, Zhengxing; Yang, Xiang; Yu, Junzhi
Conference Name12th World Congress on Intelligent Control and Automation, WCICA 2016
Source PublicationWorld Congress on Intelligent Control and Automation (WCICA)
Conference DateJune 12, 2016 - June 15, 2016
Conference PlaceGuilin, China
AbstractThis paper deals with the management and control of a biomimetic robotic fish within a control framework of artificial systems, computational experiments, and parallel execution (ACP). Without the need of precise hydrodynamic modeling and control implementation, we firstly built a functionally equivalent artificial robotic fish by using the Agent technology. When performing a specific task, network-stored control strategies and environment models can be downloaded for computing, testing, and optimizing purposes. By parallel execution, the optimal algorithm can be transferred to the physical robotic fish, where error feedback signals serve to seek the optimal solution in the network. Furthermore, the optimized control strategies, environment models, as well as the newly learned knowledge will be uploaded to the network after accomplishing the mission. At last, we demonstrate this ACP-centered control method through pushball experiment on robotic fish.
KeywordAcp-centered Control Method Biomimetic Robotic Fish Acp Approach Management System Parallel Control System Artificial Systems Functionally Equivalent Artificial Robotic Fish Agent Technology Network-stored Control Strategies Error Feedback Signals
Document Type会议论文
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
Recommended Citation
GB/T 7714
Liu, Jincun,Wu, Zhengxing,Yang, Xiang,et al. Parallel control and management system for biomimetic robotic fish based on ACP approach[C],2016.
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