Online model identification for underwater vehicles through incremental support vector regression

This paper presents an online technique which employs incremental support vector regression to learn the damping term of an underwater vehicle motion model, subject to dynamical changes in the vehicle's body. To learn the damping term, we use data collected from the robot's on-board naviga...

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Bibliographic Details
Published inProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4173 - 4180
Main Authors Wehbe, Bilal, Fabisch, Alexander, Krell, Mario Michael
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2017
Subjects
Adaptation models
Damping
Mathematical model
Optimization
Robots
Support vector machines
Vehicle dynamics
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Summary:This paper presents an online technique which employs incremental support vector regression to learn the damping term of an underwater vehicle motion model, subject to dynamical changes in the vehicle's body. To learn the damping term, we use data collected from the robot's on-board navigation sensors and actuator encoders. We introduce a new sample-efficient methodology which accounts for adding new training samples, removing old samples, and outlier rejection. The proposed method is tested in a real-world experimental scenario to account for the model's dynamical changes due to a change in the vehicle's geometrical shape.
ISSN:2153-0866
DOI:10.1109/IROS.2017.8206278