A Framework for On-line Learning of Underwater Vehicles Dynamic Models
This enables underwater vehicles to maintain accurate tracking and navigation when their dynamics change, though it appears incremental as it builds on existing online learning methods.
The authors tackled the problem of adapting robot dynamics models when external conditions change, developing an online learning framework that uses incremental support vector regression with data inclusion/forgetting strategies, demonstrating adaptation capabilities in simulation and real experiments.
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of their models is required to maintain high fidelity performance. In this work, a framework for on-line learning of robot dynamics is developed to adapt to such changes. The proposed framework employs an incremental support vector regression method to learn the model sequentially from data streams. In combination with the incremental learning, strategies for including and forgetting data are developed to obtain better generalization over the whole state space. The framework is tested in simulation and real experimental scenarios demonstrating its adaptation capabilities to changes in the robot's dynamics.