International Journal of Computational Intelligence Systems

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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Journal
International Journal of Computational Intelligence Systems
Volume-Issue
12 - 2
Pages
1197 - 1211
Publication Date
2019/10/14
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.d.190930.001How to use a DOI?
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/).

Cite this article

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  -