A study on optimization of fish robot velocity using genetic algorithm

被引：10

作者：

Kim, Hyoung-Seok ^{[1
]}

Lee, Byung-Ryong ^{[1
]}

Vo, Tuong-Quan ^{[1
]}

Truong, Quoc-Bao ^{[1
]}

机构：

[1] Univ Ulsan, Dept Mech & Automot Engn, Ulsan 680749, South Korea

来源：

2008 INTERNATIONAL CONFERENCE ON SMART MANUFACTURING APPLICATION | 2008年

关键词：

fish robot; dynamics; optimization; genetic algorithm; HCA;

D O I：

10.1109/ICSMA.2008.4505597

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, and etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. In this paper, we studied the motion mechanism of real fishes, from which we derived the dynamic equations of a fish robot. Using the equation we developed a method to find the optimal parameters to give a maximum propulsive power for a considered fish robot. We used Genetic Algorithm and HCA(Hill Climbing Agorithm) to find optimal value for maximum velocity of fish robot. Finally some experiments are carried out to compare the motion characteristics between experiment and simulation.

引用

页码：441 / 446

页数：6

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