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 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
Conference Name2016 12th World Congress on Intelligent Control and Automation (WCICA)
Source Publication2016 12th World Congress on Intelligent Control and Automation (WCICA)
Issue9781467384148
Pages2535–2540
Conference Date2016-6
Conference Place桂林
Abstract

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.

KeywordACP
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22359
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author Affilication中国科学院自动化研究所
Recommended Citation
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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