AN OPTIMIZATION PROCEDURE TO RECONSTRUCT THE AUTOMOBILE INGRESS MOVEMENT

Ait El Menceur M. O., P. Pudlo, F.-X. Lepoutre, P. Gorce

Abstract

To simulate the automobile ingress movement, joint angles are needed. The joint angles are computed from the experimental data issued from an optoelectronic motion capture system. As these systems are often corrupted by problems related either to the system or to the experimentation, the computed angles are biased. Lempereur et al. (2003) proposed an optimization procedure to remedy to this problem. However, their method gives good results only on the end effectors’ trajectories, while the other bodies’ trajectories are not considered by their method. That degrades the positions of these parts and causes their eventual collisions with the vehicle’s parts. On the other hand the corrected angles present some vibrations causing unrealistic simulation. In this paper we present a multi objective optimization based procedure to correct the joint articulation angles in automobile ingress movement. Our method minimizes the distance between all reconstructed trajectories with the real ones at each step of time. Our method follows a compromise between all trajectories of the model. Our method gives better global results. Correction of the joint angles allows a realistic simulation.

References

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Paper Citation


in Harvard Style

El Menceur M. O. A., Pudlo P., Lepoutre F. and Gorce P. (2008). AN OPTIMIZATION PROCEDURE TO RECONSTRUCT THE AUTOMOBILE INGRESS MOVEMENT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 165-168. DOI: 10.5220/0001498001650168


in Bibtex Style

@conference{icinco08,
author={Ait El Menceur M. O. and P. Pudlo and F.-X. Lepoutre and P. Gorce},
title={AN OPTIMIZATION PROCEDURE TO RECONSTRUCT THE AUTOMOBILE INGRESS MOVEMENT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={165-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001498001650168},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - AN OPTIMIZATION PROCEDURE TO RECONSTRUCT THE AUTOMOBILE INGRESS MOVEMENT
SN - 978-989-8111-31-9
AU - El Menceur M. O. A.
AU - Pudlo P.
AU - Lepoutre F.
AU - Gorce P.
PY - 2008
SP - 165
EP - 168
DO - 10.5220/0001498001650168