Bumblebee robot abdomen swinging control method based on virtual reality and reinforcement learning

Abstract

The invention discloses a bumblebee robot abdomen swinging control method based on virtual reality and reinforcement learning, and belongs to the technical field of bug robots. The control method comprises the following steps: (1) establishing a Q meter according to a set bumblebee abdomen swinging target mode, wherein the Q meter records accumulated discount reward points obtained by every action in every abdomen swinging mode; and (2) monitoring the abdomen swinging mode of a bumblebee at the current time, and producing movements to control abdomen swinging of the bumblebee on the basis of the Q meter and according to the reward point maximum principle. The interactive mechanism between the abdomen swinging behavior of the bumblebee and a visual stimulator is established by an algorithm, and the circumstance that a large number of bioexperiments are carried out to obtain a relation between stimulation and behavioral response is avoided. The motion behavior of the bumblebee is induced by visual stimulation, an enhanced learning algorithm is used as a control algorithm, a loop-locked control system is formed effectively, and abdomen swinging action of the bumblebee can be controlled accurately.

Description

technical field [0001] The invention relates to the technical field of insect robots, in particular to a method for controlling the belly swing of a bumblebee robot based on virtual reality and reinforcement learning. Background technique [0002] Insect robot is a new type of animal robot system formed by combining insects as a carrier and a control module. This kind of special robot relies on the movement ability of the carrier itself, and does not need to consider complex mechanical and power systems. It has broad application prospects in scientific research, national defense security, industrial production and other fields. [0003] How to control the flight of insects is the primary problem to be solved in the research of insect robots. Insect robots generally include three parts: a behavior stimulation module, an insect behavior collection and analysis module, and a control instruction decision-making module. [0004] At present, the behavioral stimulation methods of...

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Problems solved by technology

[0008] The invention provides a bumblebee robot abdomen swing control method based on virtual reality and reinforcement learning, which uses a reinforcement learning algorithm to control the bumblebee's abdomen swing from an initial state to a target state, and overcomes the lack of control due to artificial adjustment of stimulation parameters in the prior art. precision, and problems that require extensive biological experimentation

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