水中ロボットのシステム同定のための最適励起軌道
Optimal Excitation Trajectories for System Identification of Underwater Vehicles
ベジェ曲線で軌道をパラメータ化し、動的制約と安全制約を満たしつつデータ品質を最大化する最適励起軌道を設計し、水中ロボットの動的パラメータを最小二乗法で同定する手法を提案。水槽実験で未知軌道の速度予測により有効性を検証。
著者: Fotis Panetsos, Kostas J. Kyriakopoulos
分類: cs.RO
原文アブストラクト
In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the trajectories are parameterized using Bezier curves, which ensure smooth and differentiable motion profiles while facilitating the enforcement of constraints through appropriate manipulation of the control points. An optimization problem is formulated to determine a dynamically feasible excitation trajectory that respects safety limits and maximizes the quality of the collected data, thereby enabling reliable estimation of the vehicle's dynamic parameters using least squares. The proposed methodology is experimentally validated in a laboratory water tank, where the dynamic parameters, identified from the optimized trajectory, are evaluated by predicting the vehicle's velocity through forward simulation on previously unseen trajectories.