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Training and Analysis of Mobile Robot Behaviour Through System Identification

  • Roberto Iglesias
  • Ulrich Nehmzow
  • Theocharis Kyriacou
  • Steve Billings
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4177)

Abstract

In this paper we describe a new procedure to obtain the control code for a mobile robot, based on system identification: Initially, the robot is controlled by a human operator, who manually guides it through a desired sensor-motor task. The robot’s motion is then “identified” using the NARMAX system identification technique. The resulting transparent model can subsequently be used to control the movement of the robot.

Using a transparent mathematical model for robot control furthermore has the advantage that the robot’s motion can be analysed and characterised quantitatively, resulting in a better understanding of robot-environment interaction.

We demonstrate this approach to robot programming in experiments with a Magellan Pro mobile robot, using the task of door traversal as a testbed.

Keywords

Mobile Robot Robot Controller Mobile Robotic Sonar Sensor Robot Programming 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Roberto Iglesias
    • 1
  • Ulrich Nehmzow
    • 2
  • Theocharis Kyriacou
    • 2
  • Steve Billings
    • 3
  1. 1.Electronics and Computer ScienceUniversity of Santiago de CompostelaSpain
  2. 2.Dept. of Computer ScienceUniversity of EssexUK
  3. 3.Dept. of Automatic Control and Systems EngineeringUniversity of SheffieldUK

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