BP neural network-based multimodal motion method and system of robot fish

Abstract

The invention provides a BP neural network-based multimodal motion method and system of robot fish. The method comprises the steps of building a CPG model; carrying out dynamic modeling on robot fish with pectoral fins at four joints, inhibiting pectoral fin CPGs by tail fin CPGs in a one-way manner, determining left and right input stimuluses, downlink and uplink phase coupling coefficients, uplink and downlink coupling coefficient weights and CPG frequencies corresponding to various joints by using nonlinear oscillator models as CPG neurons; building a BP neural network model; obtaining variations of joint angles on the basis of the CPG model, storing variation values of the joint angles as data packets for carrying out BP neural network training, and transmitting the trained data to a controller of the biomimetic robot fish; and driving swinging of various joints by using CPG signals and carrying out swimming and turning motions of the robot fish. According to the BP neural network-based multimodal motion method and system of the robot fish, multimodal motions of the robot fish are learned by using the BP neural network, so that the target of learning the multimodal motion processes of the robot fish through the BP neural network is finally achieved and the autonomy and the adaptability of a robot fish system are improved.

Description

technical field [0001] The present disclosure relates to the technical field of motion control, in particular to a multi-modal motion method and system for robotic fish based on BP neural network. Background technique [0002] In recent years, as the scarcity of land resources has become increasingly serious, people have paid more and more attention to the rich marine resources. Since the original underwater detection, operation, and delivery devices are difficult to meet the needs of complex underwater operations, the research and development of underwater robots has been accelerated. As the combination of fish propulsion mechanism and robot technology, the bionic robotic fish provides a new idea for the development of new underwater vehicles, and has important research value and application prospects. [0003] With the progress of society and the development of technology, the integration of artificial intelligence and control technology has created new research opportuni...

AI Technical Summary

Problems solved by technology

Existing art rarely studies the free motion of robotic fish in nonlinear structural environments, which is important for both motion control and motion planning

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