ArticleResearch (Washington, D.C.)2024
Learning-Based Discontinuous Path Following Control for a Biomimetic Underwater Vehicle.
Article in Research (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- From Biological Mechanisms to Task-Oriented Design Principles: A Critical Review of Fish-like Biomimetic Robots.Biomimetics (Basel, Switzerland) · 2026Review
- Deep Reinforcement Learning for Real-World Humanoid Robot Locomotion Control with Automatic Reward Learning.Research (Washington, D.C.) · 2026Article
- Coordinated Dual-Fin Actuation of Bionic Ocean Sunfish Robot for Multi-Modal Locomotion.Biomimetics (Basel, Switzerland) · 2025Article
- Effect of Coupled Wing Motion on the Aerodynamic Performance during Different Flight Stages of Pigeon.Cyborg and bionic systems (Washington, D.C.) · 2025Article
- Octopus-Inspired Underwater Soft Robotic Gripper with Crawling and Swimming Capabilities.Research (Washington, D.C.) · 2024Article
Corrections and comments
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Authors and funding
7 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
This paper addresses a learning-based discontinuous path following control scheme for a biomimetic underwater vehicle (BUV) driven by undulatory fins. Despite the flexibility of the BUV motion, it faces the challenge of dealing with discontinuous paths affected by irregular seafloor topography and underwater vegetation. Therefore, BUV must employ path switching strategy to navigate to the next safe area. We introduce a discontinuous path following control method based on deep reinforcement learning (DRL). This method uses the line of sight (LOS) navigation algorithm to provide the Markov decision process (MDP) state inputs and the soft actor-critic (SAC) algorithm to train the control strategy of the BUV. Unlike the traditional fixed waveform control method, this method encourages the BUV to learn different waveforms and fluctuation frequencies through DRL. At the same time, the BUV has the ability to switch to a new path at necessary moments, such as when encountering underwater rocks. The results of simulations and experiments demonstrate the successful integration of the undulatory fins with the SAC controller, showcasing its efficacy and diversity in discontinuous underwater path following tasks.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.