Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks

被引：3
|
作者：
Music, Josip [1 ]
Kruzic, Stanko [1 ]
Stancic, Ivo [1 ]
Papic, Vladan [1 ]
机构：
[1] Univ Split, Fac Elect Engn Mech Engn & Naval Architecture, Rudera Boskov 32, Split, Croatia
来源：
INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS | 2019年 / 12卷 / 02期
关键词：
Fuzzy mediation; Adaptive control; Mobile robot; Neural networks; Teleoperation; NEURAL-NETWORKS; DEEP; VISION;
D O I：
10.2991/ijcis.d.190930.001
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper proposes and analyses performance of a fuzzy-based mediator with showcase examples in robot navigation. The mediator receives outputs from two controllers and uses estimated collision probability for adapting the signal proportions in the final output. The approach was implemented and tested in simulation and on real robots with different footprints. The task complexity during testing varied from single obstacle avoidance to a realistic navigation in real environments. The obtained results showed that this approach is simple but effective. (C) 2019 The Authors. Published by Atlantis Press SARL.
引用
收藏
页码：1197 / 1211
页数：15
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