Knowledge Commons of Institute of Automation,CAS
Parallel control and management system for biomimetic robotic fish based on ACP approach | |
Liu JC(刘金存)1,2; Wu ZX(吴正兴)1; Yang X(阳翔)1,2; Yu JZ(喻俊志)1 | |
2016-06 | |
会议名称 | 2016 12th World Congress on Intelligent Control and Automation (WCICA) |
会议录名称 | 2016 12th World Congress on Intelligent Control and Automation (WCICA) |
期号 | 9781467384148 |
页码 | 2535–2540 |
会议日期 | 2016-6 |
会议地点 | 桂林 |
摘要 | This 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 unctionally 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. |
关键词 | ACP |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/22359 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Liu JC,Wu ZX,Yang X,et al. Parallel control and management system for biomimetic robotic fish based on ACP approach[C],2016:2535–2540. |
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