Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles

Abstract

This paper is concerned with system identification and the calibration of parameters of dynamic models used in different robotic platforms. A constant time algorithm has been developed in order to automatically calibrate the parameters of a high-fidelity dynamical model for a robotic platform. The presented method is capable of choosing informative motion segments in order to calibrate model parameters in constant time while also calculating a confidence level on each estimated parameter. Simulations and experiments with a ⅛ th scale four wheel drive vehicle are performed to calibrate two of the parameters of test vehicle which demonstrate the accuracy and efficiency of the approach.