Simulation of a Slender Fish Swimming Based on Machine Learning Method

Abstract

This paper considers a slender fish swimming without using its tail fin, middle fin or other fins, but waving its body to move. The kinematic and dynamic models of fish are established, by assuming the fish consist of many rigid parts. Slender-body theory is used to calculate the hydrodynamics of fish. The fish is controlled by swinging its body to swim toward a specified target, based on the Actor-Critic method.