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The Application of Multi-agent Reinforcement Learning Algorithm Based on Particle Swarm Optimization in Positioning System of Underwater Vehicle
Pages: 64-67,71
Year: Issue:  19
Journal: Machine Tool & Hydraulics

Keyword:  水下机器人定位系统Q学习粒子群优化;
Abstract: 提出一种融合多传感器的超小型远程操纵型水下机器人(ROV)快速定位系统.利用基于粒子群优化的多智能体强化学习算法融合水下机器人超短基线定位声纳及位姿传感器信号,可提高ROV的定位速度.给出ROV定位系统试验平台硬件结构以及多线程、模块化的软件系统搭建方案.在船模实验池中进行ROV的定位验证,结果表明该算法满足ROV对定位速度的要求.
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