CASIA OpenIR  > 复杂系统认知与决策实验室  > 水下机器人
A Performance Optimization Strategy Based on Improved NSGA-II for a Flexible Robotic Fish
Lu, Ben1,2; Wang, Jian1; Liao, Xiaocun1,2; Zou, Qianqian1,2; Tan, Min1; Zhou, Chao1
2023
Conference NameIEEE International Conference on Robotics and Automation
Conference Date2023.5.29
Conference Place英国伦敦
Abstract

The high speed and low energy cost are two conflicting objectives in the motion optimization of bio-inspired underwater robots, but playing a very important role. To this end, this paper proposes an optimization strategy for swimming speed and power cost using an improved NSGAII for a flexible robotic fish. A dynamic model involving flexible deformation is established for speed prediction with the hydrodynamic parameters identified. A back propagation (BP) neural network is applied to perform compensation of power cost prediction with the dynamic model’s prediction as input. In particular, an NSGA-II-AMS method is developed to improve the efficiency of solving the two-objective optimization problem based on NSGA-II. Finally, extensive simulations and experimental results demonstrate the effectiveness of the proposed optimization strategy, which offers promising prospects for the flexible robotic fish performing aquatic tasks with different performance constraints.

Indexed ByEI
Language英语
Sub direction classification智能机器人
planning direction of the national heavy laboratory水下仿生机器人
Paper associated data
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56516
Collection复杂系统认知与决策实验室_水下机器人
Corresponding AuthorZhou, Chao
Affiliation1.Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Lu, Ben,Wang, Jian,Liao, Xiaocun,et al. A Performance Optimization Strategy Based on Improved NSGA-II for a Flexible Robotic Fish[C],2023.
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