Nonlinear UGV Identification Methods via the Gaussian Process Regression Model for Control System Design

摘要

In this paper, two identification methods are proposed for a ground robotic system. A Gaussian process regression (GPR) model is presented and adopted for a system identification framework. Its performance and features were compared with a wavelet-based nonlinear autoregressive exogenous (NARX) model. Both algorithms were compared and experimentally validated for a small ground robot. Moreover, data were collected throughout the onboard sensors. The results show better prediction performance in the case of the GPR method, as an estimation algorithm and in providing a measure of uncertainty.