Gliding Control of Underwater Gliding Snake-like Robot based on Reinforcement Learning

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	Gliding Control of Underwater Gliding Snake-like Robot based on Reinforcement Learning
	Li B(李斌)1 ; Tang JG(唐敬阁); Zhang XL(张晓路); Chang J(常健)1
	2018
会议日期	July 19-23, 2018
会议地点	Tianjin, China
页码	323-328
英文摘要	The control of the gliding action of underwater gliding snake-like robot is mainly studied in this paper. In order to solve the problem that the hydrodynamic environment is hard to model, the method of reinforcement learning is used to make the underwater gliding snake-like robot adapt to the underwater environment and automatically learn the gliding actions. A modified Monte Carlo policy gradient algorithm using pre-processed neural network is proposed to solve the problem that the states of the robot are difficult to be observed completely due to its complex structure. The gliding control problem of the underwater gliding snake-like robot can be approximated as a Markov Decision Process, so as to obtain an effective gliding control policy. Simulation results show the effectiveness of the proposed method.
源文献作者	IEEE Robotics & Automation Society
产权排序	1
会议录	Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-7056-9
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23868]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhang XL(张晓路)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Information Science and Engineering, Northeastern University, Shenyang, China
推荐引用方式 GB/T 7714	Li B,Tang JG,Zhang XL,et al. Gliding Control of Underwater Gliding Snake-like Robot based on Reinforcement Learning[C]. 见:. Tianjin, China. July 19-23, 2018.