Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks
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 test...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2019-10-01
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| Series: | International Journal of Computational Intelligence Systems |
| Subjects: | |
| Online Access: | https://www.atlantis-press.com/article/125919257/view |
| _version_ | 1811302445123371008 |
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| author | Josip Musić Stanko Kružić Ivo Stančić Vladan Papić |
| author_facet | Josip Musić Stanko Kružić Ivo Stančić Vladan Papić |
| author_sort | Josip Musić |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-13T07:27:56Z |
| format | Article |
| id | doaj.art-89aabc39aba846739a4d0f9dfcf5e087 |
| institution | Directory Open Access Journal |
| issn | 1875-6883 |
| language | English |
| last_indexed | 2024-04-13T07:27:56Z |
| publishDate | 2019-10-01 |
| publisher | Springer |
| record_format | Article |
| series | International Journal of Computational Intelligence Systems |
| spelling | doaj.art-89aabc39aba846739a4d0f9dfcf5e0872022-12-22T02:56:25ZengSpringerInternational Journal of Computational Intelligence Systems1875-68832019-10-0112210.2991/ijcis.d.190930.001Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based TasksJosip MusićStanko KružićIvo StančićVladan PapićThe 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.https://www.atlantis-press.com/article/125919257/viewFuzzy mediationAdaptive controlMobile robotNeural networksTeleoperation |
| spellingShingle | Josip Musić Stanko Kružić Ivo Stančić Vladan Papić Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks International Journal of Computational Intelligence Systems Fuzzy mediation Adaptive control Mobile robot Neural networks Teleoperation |
| title | Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks |
| title_full | Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks |
| title_fullStr | Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks |
| title_full_unstemmed | Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks |
| title_short | Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks |
| title_sort | adaptive fuzzy mediation for multimodal control of mobile robots in navigation based tasks |
| topic | Fuzzy mediation Adaptive control Mobile robot Neural networks Teleoperation |
| url | https://www.atlantis-press.com/article/125919257/view |
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