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Comparing robot controllers through system identification

Nehmzow, U., Akanyeti, O., Iglesias, R., Kyriacou, T. and Billings, S.A. (2006) Comparing robot controllers through system identification. Research Report. ACSE Research Report no. 921 . Automatic Control and Systems Engineering, University of Sheffield

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Abstract

In the mobile robotics field, it is very common to find different control programs designed to achieve a particular robot task. Although there are many ways to evaluate these controllers qualitatively, there is a lack of formal methodology to compare them from a mathematical point of view. In this paper we present a novel approach to compare robot control codes quantitatively based on system identification: Initially the transparent mathematical models of the controllers are obtained using the NARMAX system identification process. Then we use these models to analyse the general characteristics of the cotrollers from a mathematical point of view. In this way, we are able to compare different control programs objectively based on quantitative measures. We demonstrate our approach by comparing two different robot control programs, which were designed to drive the robot through door-like openings.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 09 Oct 2012 10:12
Last Modified: 08 Feb 2013 17:40
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74561

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