Motion model identification of rescue robot based on optimized Jordan neural network

Abstract

Abstract. Considering the influence of various factors, such as speed, angle, depth of water, weight, and water flow, on the underwater rescue robot, a method based on neural network is proposed. According to the characteristics of Elman and Jordan neural network, a new dynamic neural network is constructed. The network can be used to remember the state of the hidden layer and increase the feedback of the output node. The improved Jordan network is optimized by chaos particle swarm optimization algorithm. The optimized neural network is applied to identify the dynamic model of the underwater rescue robot. The simulation results show that the neural network has good convergence speed and accuracy.