A Study on Modeling Error Estimation for Mobile Robot Based on Coevolutionary Computation and Image Processing
Halpage Chinthaka Nuwandika Premachandra*,
Hiroharu Kawanaka*, Tomohiro Yoshikawa**,
Shinji Tsuruoka*, and Tsuyoshi Shinogi*
*Division of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University, 1577 Kurima-Machiya, Tsu, Mie 514-8507, Japan
**Dept. of Computational Science and Engineering, Graduate School of Engineering, Nagoya University
Evolutionary Computation (EC) is used to minimize modeling errors between robotic movement in computer simulation and trajectories of an actual robot. Generally, this task is important and so difficult. This paper proposes the method to minimize the modeling error between robotic movements and simulation results using coevolutionary computations with image processing technique. In the proposed method, a video camera on the ceiling captures robot movement, actual robot trajectories are detected from captured images by image processing, and modeling errors are estimated. Results of the experiments using an actual robot confirmed the effectiveness of our proposal and showed that modeling errors are reduced effectively. The sections that follow detail the problems overcome and our projected work.
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