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Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework | |
Wang, Jian(王健)1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Vehicular Technology
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ISSN | 0018-9545 |
2021 | |
卷号 | 70期号:4页码:3243-3255 |
摘要 | This paper proposes a novel hierarchical framework to achieve real-time path planning and following for a gliding robotic dolphin, including a learning-based path planner and an adaptive following controller. Subsequent to considering higher intelligence in unknown ocean environment, we present a novel hierarchical deep Q-network method to separately plan the collision avoidance path and the approach path, and also design different continuous-states under the kinematic constraints. Next, we adopt an improved line-of-sight method to obtain the desired points from planned path. More importantly, we derive a nonlinear control law based on backstepping technique, and specially avoid singularities in the law derivation using barrier Lyapunov function. In particular, the unknown model parameters are adaptively calculated to make the controller more robust. Finally, extensive simulation and experimental results verify the effectiveness of the proposed methods, providing a new idea to further ocean exploration. |
关键词 | Adaptive backstepping hierarchical deep q-network path following path planning underwater robot |
DOI | 10.1109/TVT.2021.3066482 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000647411800026 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44437 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.the School of Artificial Intelligence, University of Chinese Academy of Sciences 3.the State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang, Jian,Wu, Zhengxing,Yan, Shuaizheng,et al. Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework[J]. IEEE Transactions on Vehicular Technology,2021,70(4):3243-3255. |
APA | Wang, Jian,Wu, Zhengxing,Yan, Shuaizheng,Tan, Min,&Yu, Junzhi.(2021).Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework.IEEE Transactions on Vehicular Technology,70(4),3243-3255. |
MLA | Wang, Jian,et al."Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework".IEEE Transactions on Vehicular Technology 70.4(2021):3243-3255. |
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