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.#R##N##R##N#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.#R##N##R##N#We demonstrate our approach by comparing two different robot control programs, which were designed to drive a Magellan Pro robot through door-like openings.
['Ulrich Nehmzow', 'Otar Akanyeti', 'Roberto Iglesias', 'Theocharis Kyriacou', 'S.A. Billings']
Comparing robot controllers through system identification