Posture estimation strategy for multi robot system based on visual perception and optical pointer

Rishwaraj Gengarajoo, Kuppan Chetty Ramanathan, SG Ponnambalam

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    Abstract

    The key objective of this research work is to develop and improve the posture estimation of the robots relative to each other using a combination of visual perception and optical (laser) pointers. The two critical parameters that are estimated in this work are the linear separation between the robots and the orientation angle of the robots. An empirical model is developed for linear separation estimation while five different models are developed towards the estimation of orientation related to the distance.Performance of the developed models are investigation through simulation studies and the results shows that the linear model exhibits an average error of 5.19 while the angular estimation model exhibits an error of 13.9 at a predetermined distance.
    Original languageEnglish
    Title of host publicationTrends in Intelligent Robotics, Automation, and Manufacturing: First International Conference, IRAM 2012
    EditorsS G Poonambalam, Jussi Parkkinen, Kuppan Chetty Ramanathan
    Place of PublicationBerlin Heidelberg
    PublisherSpringer-Verlag London Ltd.
    Pages46 - 56
    Number of pages11
    ISBN (Print)9783642351969
    DOIs
    Publication statusPublished - 2012
    EventInternational Conference on Intelligent Robotics, Automation and Maufacturing (IRAM 2012) - Kuala Lumpur, Malaysia
    Duration: 28 Nov 201230 Nov 2012
    Conference number: 1st

    Conference

    ConferenceInternational Conference on Intelligent Robotics, Automation and Maufacturing (IRAM 2012)
    Abbreviated titleIRAM 2012
    CountryMalaysia
    CityKuala Lumpur
    Period28/11/1230/11/12

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