Comparing robot controllers through system identification

Authors:
Ulrich Nehmzow;Otar Akanyeti;Roberto Iglesias;Theocharis Kyriacou;S. A. Billings
Affiliations:
Department of Computer Science, University of Essex, UK;Department of Computer Science, University of Essex, UK;Electronics and Computer Science, University of Santiago de Compostela, Spain;Department of Computer Science, University of Essex, UK;Dept of Automatic Control and Systems Engineering, University of Sheffield, UK
Venue:
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Year:
2006

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Abstract

In mobile robotics, it is common to find different control programs designed to achieve a particular robot task It is often necessary to compare the performance of such controllers So far this is usually done qualitatively, because of a lack of quantitative behaviour analysis methods. In this paper we present a novel approach to compare robot control codes quantitatively, based on system identification Using the NARMAX system identification process, we “translate” the original behaviour into a transparent, analysable mathematical model of the original behaviour We then use statistical methods and sensitivity analysis to compare models quantitatively. We demonstrate our approach by comparing two different robot control programs, which were designed to drive a Magellan Pro robot through door-like openings.