Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle

doi:10.34133/research.0299

	Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle
	Wang, Yu 1,2; Chu, Hongfei 1; Ma, Ruichen1 ; Bai, Xuejian3 ; Cheng, Long1,2 ; Wang, Shuo 1,2; Tan, Min1
发表期刊	RESEARCH
ISSN	2096-5168
	2024-01-30
卷号	7 页码:11
通讯作者	Ma, Ruichen(maruichen2016@ia.ac.cn) ; Cheng, Long(long.cheng@ia.ac.cn) ; Tan, Min(min.tan@ia.ac.cn)
摘要	This paper addresses a learning-based discontinuous path following control scheme for a biomimetic underwater vehicle (BUV) driven by undulatory fins. Despite the flexibility of the BUV motion, it faces the challenge of dealing with discontinuous paths affected by irregular seafloor topography and underwater vegetation. Therefore, BUV must employ path switching strategy to navigate to the next safe area. We introduce a discontinuous path following control method based on deep reinforcement learning (DRL). This method uses the line of sight (LOS) navigation algorithm to provide the Markov decision process (MDP) state inputs and the soft actor-critic (SAC) algorithm to train the control strategy of the BUV. Unlike the traditional fixed waveform control method, this method encourages the BUV to learn different waveforms and fluctuation frequencies through DRL. At the same time, the BUV has the ability to switch to a new path at necessary moments, such as when encountering underwater rocks. The results of simulations and experiments demonstrate the successful integration of the undulatory fins with the SAC controller, showcasing its efficacy and diversity in discontinuous underwater path following tasks.
DOI	10.34133/research.0299
收录类别	SCI
语种	英语
资助项目	Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[62073316] ; Youth Innovation Promotion Association CAS[Y2022053] ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing[KZ2022 10017024]
项目资助者	Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing
WOS研究方向	Science & Technology - Other Topics
WOS类目	Multidisciplinary Sciences
WOS记录号	WOS:001184300300001
出版者	AMER ASSOC ADVANCEMENT SCIENCE
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/173211/56958
专题	多模态人工智能系统全国重点实验室
通讯作者	Ma, Ruichen; Cheng, Long; Tan, Min
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 3.Liaoning Univ Technol, Sch Elect Engn, Jinzhou, Peoples R 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, Yu,Chu, Hongfei,Ma, Ruichen,et al. Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle[J]. RESEARCH,2024,7:11.
APA	Wang, Yu.,Chu, Hongfei.,Ma, Ruichen.,Bai, Xuejian.,Cheng, Long.,...&Tan, Min.(2024).Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle.RESEARCH,7,11.
MLA	Wang, Yu,et al."Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle".RESEARCH 7(2024):11.