control loop sensor calibration using neural networks for robotic control控制回路传感器校准使用神经网络对机器人的控制.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2011, Article ID 845685, 8 pages doi:10.1155/2011/845685 Research Article Control Loop Sensor Calibration Using Neural Networks for Robotic Control Kathleen A. Kramer1 and Stephen C. Stubberud2 1 Department of Engineering, University of San Diego, 5998 Alcala Park, San Diego, CA 92110, USA ´ 2 Advanced Programs, Oakridge Technology, Del Mar, CA 92014, USA Correspondence should be addressed to Kathleen A. Kramer, kramer@ Received 15 July 2011; Accepted 8 November 2011 Academic Editor: Ivo Bukovsky Copyright © 2011 K. A. Kramer and S. C. Stubberud. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Whether sensor model’s inaccuracies are a result of poor initial modeling or from sensor damage or drift, the effects can be just as detrimental. Sensor modeling errors result in poor state estimation. This, in turn, can cause a control system relying upon the sensor’s measurements to become unstable, such as in robotics where the control system is applied to allow autonomous navigation. A technique referred to as a neural extended Kalman filter (NEKF) is developed to provide both state estimation in a control loop and to learn the difference between the true sensor dynamics and the sensor model. The technique requires multiple sensors on the control system so that the properly operating and modeled sensors can be used as truth. The NEKF trains a neural network on-line using the same residuals as the state estimation. The resulting sensor model can then be reincorporated ful