LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

LQR Control and Optimization for Trajectory Tracking of Biomimetic Robotic Fish Based on Unreal Engine

A realistic and visible dynamic simulation platform can significantly facilitate research on underwater robots. This paper uses the Unreal Engine to generate a scene that resembles real ocean environments, before building a visual dynamic simulation platform in conjunction with the Air-Sim system. O...

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Bibliographic Details
Main Authors: Ming Wang, Kunlun Wang, Qianchuan Zhao, Xuehan Zheng, He Gao, Junzhi Yu
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Biomimetics
Subjects:
robotic fish
track tracking
Unreal Engine
AirSim
discrete linear quadratic regulator
particle swarm optimization
Online Access:https://www.mdpi.com/2313-7673/8/2/236

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