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Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes | |
Wilmer Ariza Ramirez1 | |
发表期刊 | International Journal of Automation and Computing |
ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:5页码:681-693 |
摘要 | Non-parametric system identification with Gaussian processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with a low amount of data. Multi-output Gaussian processes and their aptitude for modelling the dynamic system of an underactuated AUV without losing the relationships between tied outputs are used. The simulation of a first-principle model of a Remus 100 AUV is employed to capture data for the training and validation of the multi-output Gaussian processes. The metric and required procedure to carry out multi-output Gaussian processes for AUV with 6 degrees of freedom (DoF) is also shown in this paper. Multi-output Gaussian processes compared with the popular technique of recurrent neural network show that multi-output Gaussian processes manage to surpass RNN for non-parametric dynamic system identification in underwater vehicles with highly coupled DoF with the added benefit of providing the measurement of confidence. |
关键词 | Dependent Gaussian processes dynamic system identification multi-output Gaussian processes non-parametric identification autonomous underwater vehicle (AUV) |
DOI | 10.1007/s11633-021-1308-x |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/45457 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.Australian Maritime College, University of Tasmania, Newnham 7248, Australia 2.Jožef Steftan Institute, Ljubljana SI-1000, Slovenia 3.School of Engineering and Management, University of Nova Gorica, Vipara SI-5271, Slovenia |
推荐引用方式 GB/T 7714 | Wilmer Ariza Ramirez. Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes[J]. International Journal of Automation and Computing,2021,18(5):681-693. |
APA | Wilmer Ariza Ramirez.(2021).Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes.International Journal of Automation and Computing,18(5),681-693. |
MLA | Wilmer Ariza Ramirez."Dynamic System Identification of Underwater Vehicles Using Multi-output Gaussian Processes".International Journal of Automation and Computing 18.5(2021):681-693. |
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