Proceedings of the International e-Conference on Advances in Computer Engineering and Communication Systems (ICACECS 2023)

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Experience-based learning for multi-parameter regression control of snake-like robots

Authors
R. Dhanush Varma1, *, Abhishek2
1Vellore Institute of Technology (VIT Bhopal), Bhopal, India
2Indira Gandhi National Open University, New Delhi, India
*Corresponding author. Email: dhanushvarma1975@gmail.com
Corresponding Author
R. Dhanush Varma
Available Online 21 December 2023.
DOI
10.2991/978-94-6463-314-6_31How to use a DOI?
Keywords
Snake-inspired robot; autonomous mobility; motion control; parameter tuning; entropy variance
Abstract

Snake-like robots, with their complex and multi-jointed structure, hold great potential for navigating complex environments. However, real-time manipulation of their movements can be challenging. As such, achieving autonomous mobility for these robots is a major area of research. This paper introduces a new machine learning-based control framework that utilizes a clustering algorithm to classify training data into multiple clusters. The motion control of snake-like robots involves multiple regression problems due to the multi-parameter control strategy. To address this, we propose a novel strategy that uses data from previous training to convert multiple regressions into a single regression problem for parameter modification. Our experimental results demonstrate the adaptability of the robots in different pipe environments using our algorithm framework.

Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the International e-Conference on Advances in Computer Engineering and Communication Systems (ICACECS 2023)
Series
Atlantis Highlights in Computer Sciences
Publication Date
21 December 2023
ISBN
978-94-6463-314-6
ISSN
2589-4900
DOI
10.2991/978-94-6463-314-6_31How to use a DOI?
Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - R. Dhanush Varma
AU  - Abhishek
PY  - 2023
DA  - 2023/12/21
TI  - Experience-based learning for multi-parameter regression control of snake-like robots
BT  - Proceedings of the International e-Conference on Advances in Computer Engineering and Communication Systems (ICACECS 2023)
PB  - Atlantis Press
SP  - 304
EP  - 319
SN  - 2589-4900
UR  - https://doi.org/10.2991/978-94-6463-314-6_31
DO  - 10.2991/978-94-6463-314-6_31
ID  - Varma2023
ER  -