The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine
To achieve fast and accurate adjustment of robotic fish, this paper proposes state prediction model based on the extreme learning machine optimized by particle swarm algorithm. The proposed model can select desirable actions for robotic fish according to precisely predicted states, “adjusting positi...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/7456031 |
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| _version_ | 1832554611852967936 |
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| author | XueXi Zhang ShuiBiao Chen ShuTing Cai XiaoMing Xiong Zefeng Hu |
| author_facet | XueXi Zhang ShuiBiao Chen ShuTing Cai XiaoMing Xiong Zefeng Hu |
| author_sort | XueXi Zhang |
| collection | DOAJ |
| description | To achieve fast and accurate adjustment of robotic fish, this paper proposes state prediction model based on the extreme learning machine optimized by particle swarm algorithm. The proposed model can select desirable actions for robotic fish according to precisely predicted states, “adjusting position” or “pushing ball” defined herein. Specifically, the extreme learning machine (ELM) is leveraged to predict the state of robotic fish, from the observations of current surrounding environment. As the outputs in ELM are varying with the randomly initialized parameters, particle swarm optimization (PSO) algorithm further improves the accuracy and robustness of the ELM by optimizing initial parameters. The empirical results on URWPGSim2D simulation platform indicate that the robotic fish tends to carry out appropriate actions using the state prediction model so that we can complete the game efficiently. It proves that the proposed model can make best use of the real-time information of robotic fish and water polo and derive fulfilling action strategy in various scenarios, which meet the requirements of motion control for robotic fish. |
| format | Article |
| id | doaj-art-0a838926499243cd873ca8a4a1fa8e61 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0a838926499243cd873ca8a4a1fa8e612025-02-03T05:50:57ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/74560317456031The Action Control Model for Robotic Fish Using Improved Extreme Learning MachineXueXi Zhang0ShuiBiao Chen1ShuTing Cai2XiaoMing Xiong3Zefeng Hu4School of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaSchool of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaSchool of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaSchool of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaSchool of Automation, Guangdong University of Technology, Guangzhou 510006, ChinaTo achieve fast and accurate adjustment of robotic fish, this paper proposes state prediction model based on the extreme learning machine optimized by particle swarm algorithm. The proposed model can select desirable actions for robotic fish according to precisely predicted states, “adjusting position” or “pushing ball” defined herein. Specifically, the extreme learning machine (ELM) is leveraged to predict the state of robotic fish, from the observations of current surrounding environment. As the outputs in ELM are varying with the randomly initialized parameters, particle swarm optimization (PSO) algorithm further improves the accuracy and robustness of the ELM by optimizing initial parameters. The empirical results on URWPGSim2D simulation platform indicate that the robotic fish tends to carry out appropriate actions using the state prediction model so that we can complete the game efficiently. It proves that the proposed model can make best use of the real-time information of robotic fish and water polo and derive fulfilling action strategy in various scenarios, which meet the requirements of motion control for robotic fish.http://dx.doi.org/10.1155/2019/7456031 |
| spellingShingle | XueXi Zhang ShuiBiao Chen ShuTing Cai XiaoMing Xiong Zefeng Hu The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine Complexity |
| title | The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine |
| title_full | The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine |
| title_fullStr | The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine |
| title_full_unstemmed | The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine |
| title_short | The Action Control Model for Robotic Fish Using Improved Extreme Learning Machine |
| title_sort | action control model for robotic fish using improved extreme learning machine |
| url | http://dx.doi.org/10.1155/2019/7456031 |
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