Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework | |
Wang Jian(王健); Wu Zhengxing; Yan Shuaizheng; Tan Min; Yu Junzhi | |
刊名 | IEEE Transactions on Vehicular Technology |
2021 | |
卷号 | 70期号:4页码:3243-3255 |
关键词 | Adaptive backstepping hierarchical deep q-network path following path planning underwater robot |
ISSN号 | 0018-9545 |
DOI | 10.1109/TVT.2021.3066482 |
英文摘要 | This paper proposes a novel hierarchical framework to achieve real-time path planning and following for a gliding robotic dolphin, including a learning-based path planner and an adaptive following controller. Subsequent to considering higher intelligence in unknown ocean environment, we present a novel hierarchical deep Q-network method to separately plan the collision avoidance path and the approach path, and also design different continuous-states under the kinematic constraints. Next, we adopt an improved line-of-sight method to obtain the desired points from planned path. More importantly, we derive a nonlinear control law based on backstepping technique, and specially avoid singularities in the law derivation using barrier Lyapunov function. In particular, the unknown model parameters are adaptively calculated to make the controller more robust. Finally, extensive simulation and experimental results verify the effectiveness of the proposed methods, providing a new idea to further ocean exploration. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/44437] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Yu Junzhi |
作者单位 | 1.the School of Artificial Intelligence, University of Chinese Academy of Sciences 2.the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Wang Jian,Wu Zhengxing,Yan Shuaizheng,et al. Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework[J]. IEEE Transactions on Vehicular Technology,2021,70(4):3243-3255. |
APA | Wang Jian,Wu Zhengxing,Yan Shuaizheng,Tan Min,&Yu Junzhi.(2021).Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework.IEEE Transactions on Vehicular Technology,70(4),3243-3255. |
MLA | Wang Jian,et al."Real-time path planning and following of a gliding robotic dolphin within a hierarchical framework".IEEE Transactions on Vehicular Technology 70.4(2021):3243-3255. |
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