Volume 12, Issue 2, 2019, Pages 1197 - 1211
Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks
Authors
Josip Musić†, Stanko Kružić*, †, Ivo Stančić, Vladan Papić
University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Ruđera Boškovića 32, Split, Croatia
†
Authors contributed equally
*Corresponding author. Email: skruzic@fesb.hr
Corresponding Author
Stanko Kružić
Received 22 March 2019, Accepted 17 September 2019, Available Online 14 October 2019.
- DOI
- 10.2991/ijcis.d.190930.001How to use a DOI?
- Keywords
- Fuzzy mediation; Adaptive control; Mobile robot; Neural networks; Teleoperation
- Abstract
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.
- Copyright
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
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TY - JOUR AU - Josip Musić AU - Stanko Kružić AU - Ivo Stančić AU - Vladan Papić PY - 2019 DA - 2019/10/14 TI - Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks JO - International Journal of Computational Intelligence Systems SP - 1197 EP - 1211 VL - 12 IS - 2 SN - 1875-6883 UR - https://doi.org/10.2991/ijcis.d.190930.001 DO - 10.2991/ijcis.d.190930.001 ID - Musić2019 ER -