Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO

doi:10.1016/j.neucom.2019.01.062

	Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO
	Wang, Ming 1; Dong, Huifang 1; Li, Xu 1; Zhang, Yanlu 1; Yu, Junzhi2,3
刊名	NEUROCOMPUTING
	2019-04-14
卷号	337 页码:144-152
关键词	Central pattern generator (CPG) Motion optimization Bionic robotic fish Dynamic modeling PSO
ISSN号	0925-2312
DOI	10.1016/j.neucom.2019.01.062
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	Swimming speed and propulsive efficiency are critical indicators of a self-propelled bionic robotic fish in terms of swimming performance. This paper is devoted to achieving a maximum swimming speed and a higher propulsive efficiency for a four-joint robotic fish. A Newton-Euler method based dynamic model in conjunction with a central pattern generator (CPG) network serves to theoretically estimate fish-like swimming performance. In particular, each CPG unit based on limit cycles serves to drive one joint of the robotic fish. The overall CPG model is able to generate rhythmic signals for multimode swimming. To obtain the maximum average speed, a particle swarm optimization (PSO) algorithm is further utilized to optimize the feature parameters of the CPG model. Furthermore, the higher propulsive efficiency is sought within the same control framework. Simulations and experiments on the actual robotic fish demonstrate the improved propulsive performance and the effectiveness of the proposed control framework. (C) 2019 Elsevier B.V. All rights reserved.
资助项目	National Natural Science Foundation of China[61573226] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Beijing Natural Science Foundation[4161002]
WOS关键词	DESIGN
WOS研究方向	Computer Science
语种	英语
出版者	ELSEVIER SCIENCE BV
WOS记录号	WOS:000461165400012
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/24982]
专题	中国科学院自动化研究所
通讯作者	Yu, Junzhi
作者单位	1.Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Shandong, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Wang, Ming,Dong, Huifang,Li, Xu,et al. Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO[J]. NEUROCOMPUTING,2019,337:144-152.
APA	Wang, Ming,Dong, Huifang,Li, Xu,Zhang, Yanlu,&Yu, Junzhi.(2019).Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO.NEUROCOMPUTING,337,144-152.
MLA	Wang, Ming,et al."Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO".NEUROCOMPUTING 337(2019):144-152.