Reinforcement learning: The application to autonomous biomimetic underwater vehicles control

4th International Scientific Conference SEA-CONF 2018

Magalhães, J.^1 ; Damas, B.^1 ; Lobo, V.^1

CINAV, Portuguese Navy Research Center, Almada, Portugal^1

关键词: Biomimetic underwater vehicle;    Complex dynamics;    Minimum time;    Reinforcement algorithms;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/172/1/012019/pdf
DOI  :  10.1088/1755-1315/172/1/012019

来源: IOP

【 摘 要 】

The Autonomous Biomimetic Vehicles have been increasing in popularity in the past few years. Controlling such type of vehicles is not trivial: due to its complex dynamics and kinematics, it is complex to analytically derive controllers that can efficiently perform a given task, such as reaching a given position target in a minimum time. In this paper we will evaluate the results of the implementation of a reinforcement algorithm in autonomous biomimetic underwater vehicles, providing a new way to control this type of vehicles in which the algorithm is in constant learning.