Predicting the Motion of a USV Using Support Vector Regression with Mixed Kernel Function

Abstract

Predicting the maneuvering motion of an unmanned surface vehicle (USV) plays an important role in intelligent applications. To more precisely predict this empirically, this study proposes a method based on the support vector regression with a mixed kernel function (MK-SVR) combined with the polynomial kernel (PK) function and radial basis function (RBF). A mathematical model of the maneuvering of the USV was established and subjected to a zig-zag test on the DW-uBoat USV platform to obtain the test data. Cross-validation was used to optimize the parameters of SVR and determine suitable weight coefficients in the MK function to ensure the adaptive adjustment of the proposed method. The PK-SVR, RBF-SVR, and MK-SVR methods were used to identify the dynamics of the USV and build the corresponding predictive models. A comparison of the results of the predictions with experimental data confirmed the limitations of the SVR with a single kernel function in terms of forecasting different parameters of motion of the USV while verifying the validity of the MK-SVR based on data collected from a full-scale test. The results show that the MK-SVR method combines the advantages of the local and global kernel functions to offer a better predictive performance and generalization ability than SVR based on the nuclear kernel function. The purpose of this manuscript is to propose a novel method of dynamics identification for USV, which can help us establish a more precise USV dynamic model to design and verify an excellent motion controller.