通过半监督的增量广义学习,通过基于轴承刚性的AUV集群控制
概括
本研究介绍了使用图形理论和机器学习的自动水下车辆 (AUV) 的新型集群控制. 这些方法提高了定位准确性,并减少了在具有挑战性的海洋环境中训练时间.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 控制系统 控制系统
背景情况:
- 集群控制对于自主水下车辆 (AUV) 在海洋任务中的协调至关重要.
- 现有的方法在通信薄弱和复杂的环境中面临挑战.
- 在这些条件下,AUV的强有力的集群策略存在研究缺口.
研究的目的:
- 解决AUV集群控制在弱通信和复杂的海洋环境中的研究缺口.
- 为AUV开发一个强大而高效的集群策略.
- 为了提高AUV协调中的定位精度和能源效率.
主要方法:
- 利用图形理论,特别是轴承刚度图,以建模AUV拓.
- 开发了一个代梯度下降基于本地化估计器.
- 实施了最小权重轴承刚度图的策略,以改善本地化和能源效率.
- 在充满障碍的环境中使用半监督的广泛学习系统 (BLS) 用于无模型的集群控制器.
主要成果:
- 最低权重轴承刚度图的策略有效地平衡了定位精度和通信消耗.
- 与监督方法相比,半监督的BLS控制器减少了培训时间,克服了标签限制.
- 模拟和实验研究验证了拟议的集群控制策略.
结论:
- 拟议的最小加权轴承刚度图局部化策略在准确性和通信成本之间提供了卓越的平衡.
- 基于BLS的半监督集群控制器为AUV在复杂环境中提供了高效的解决方案,具有有限的标记数据.
- 综合方法提高了AUV复杂的海洋协调任务的可行性.
更多相关视频
05:57Long-term Video Tracking of Cohoused Aquatic Animals: A Case Study of the Daily Locomotor Activity of the Norway Lobster Nephrops norvegicus
Published on: April 8, 2019
6.8K
08:04Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT
Published on: April 23, 2020
6.8K
相关概念视频
01:24One-Degree-of-Freedom System
1.0K
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
1.0K
01:17Open and closed-loop control systems
2.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
2.0K
01:26Feedback control systems
800
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
800
01:22Multi-input and Multi-variable systems
544
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
In the absence of...
544
01:14Avoidance Learning and Learned Helplessness
4.2K
Avoidance learning and learned helplessness are critical concepts in understanding behavioral responses to negative stimuli.
Avoidance learning occurs when an organism learns that a specific behavior can prevent an unpleasant outcome. For example, a student who receives a bad grade may start studying harder to avoid future poor grades. This behavior persists even when the negative outcome is no longer present. Avoidance learning is powerful because it maintains behavior in the absence of the...
Avoidance learning occurs when an organism learns that a specific behavior can prevent an unpleasant outcome. For example, a student who receives a bad grade may start studying harder to avoid future poor grades. This behavior persists even when the negative outcome is no longer present. Avoidance learning is powerful because it maintains behavior in the absence of the...
4.2K
01:12Observational Learning
1.5K
Albert Bandura's observational learning, also known as imitation or modeling, occurs when a person observes and imitates another's behavior. It is a quicker process than operant conditioning. A well-known example is the Bobo doll study, where children who saw an adult acting aggressively towards the doll were more likely to act aggressively when left alone, compared to those who observed a nonaggressive adult. Many psychologists view observational learning as a form of latent learning...
1.5K