Training and analysis of mobile robot behaviour through system identification

  • Authors:

  • Roberto Iglesias;Ulrich Nehmzow;Theocharis Kyriacou;Steve Billings

  • Affiliations:

  • Electronics and Computer Science, University of Santiago de Compostela, Spain;Dept. of Computer Science, University of Essex, UK;Dept. of Computer Science, University of Essex, UK;Dept. of Automatic Control and Systems Engineering, University of Sheffield, UK

  • Venue:
  • CAEPIA'05 Proceedings of the 11th Spanish association conference on Current Topics in Artificial Intelligence
  • Year:
  • 2005

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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.