Modeling Error Estimation of Mobile Robot Using Co-Evolutionary Computation and Image Processing

Abstract

Recently, Evolutionary Computations (ECs) have been employed to minimize modeling errors between robotic movements on the computer simulation system and the trajectories of an actual mobile robot. Generally, this task is important but it is so difficult. In this paper, we propose the method to minimize the modeling error of between robotic movements and simulation results using co-evolutionary computations with image processing technique. In the proposed method, we employ the video camera system on the ceiling for capturing the robot movements, and the trajectories of the actual mobile robot are detected from captured images by image processing technique and the modeling error is estimated. We experimented using an actual mobile robot to validate the effectiveness of the proposed method, and the results shows that modeling errors are deduced effectively by the proposed method. Finally, this paper describes the problem and future works of this study.