Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning

doi:10.1109/TMECH.2023.3249194

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 智能机器人系统研究

	Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning
	Ma, Ruichen1,2 ; Wang, Yu2 ; Tang, Chong3 ; Wang, Shuo1,2 ; Wang, Rui2
发表期刊	IEEE/ASME Transactions on Mechatronics
	2023-04
页码	1-10
摘要	This article addresses a deep reinforcement learning (DRL) control method of position and attitude tracking for a biomimetic underwater vehicle (BUV). The BUV is actuated by two biomimetic propulsors. Each propulsor has a thick and flexible fin, which is manipulated by 12 short fin rays and can undulate in multiple wave patterns for propulsion. To achieve position and attitude tracking control on the BUV, a periodic dynamics-reparameterized soft actor-critic (SAC) algorithm is proposed. In detail, the algorithm uses the DRL method of SAC to train the controller by interacting with a simulated BUV, which is based on the propulsion model of the undulatory fin. Considering that the simulated environment may be inaccurate when compared with the real environment, some specially designed tricks are proposed. Simulations and experiments are conducted to prove the effectiveness and robustness of the proposed controller.
关键词	Biomimetic underwater vehicle (BUV) Deep reinforcement learning (DRL) Soft actor-critic (SAC) Undulatory fin
DOI	10.1109/TMECH.2023.3249194
URL	查看原文
收录类别	SCI
语种	英语
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	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/52358
专题	多模态人工智能系统全国重点实验室_智能机器人系统研究
通讯作者	Wang, Yu
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 3.Beijing Unisoc Technologies Co., Ltd., Beijing 100190, 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	Ma, Ruichen,Wang, Yu,Tang, Chong,et al. Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning[J]. IEEE/ASME Transactions on Mechatronics,2023:1-10.
APA	Ma, Ruichen,Wang, Yu,Tang, Chong,Wang, Shuo,&Wang, Rui.(2023).Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning.IEEE/ASME Transactions on Mechatronics,1-10.
MLA	Ma, Ruichen,et al."Position and Attitude Tracking Control of a Biomimetic Underwater Vehicle via Deep Reinforcement Learning".IEEE/ASME Transactions on Mechatronics (2023):1-10.