Knowledge Commons of Institute of Automation,CAS
A Performance Optimization Strategy Based on Improved NSGA-II for a Flexible Robotic Fish | |
Lu, Ben1,2![]() ![]() ![]() ![]() ![]() ![]() | |
2023 | |
会议名称 | IEEE International Conference on Robotics and Automation |
会议日期 | 2023.5.29 |
会议地点 | 英国伦敦 |
摘要 | 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. |
收录类别 | EI |
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 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56516 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Zhou, Chao |
作者单位 | 1.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 |
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 | Lu, Ben,Wang, Jian,Liao, Xiaocun,et al. A Performance Optimization Strategy Based on Improved NSGA-II for a Flexible Robotic Fish[C],2023. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Performance Optimi(1449KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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