Uncertainty and fuzzy modeling in human-robot navigation

Rainer Palm, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

The interaction between humans and mobile robots in shared areas requires a high level of safety especially at the crossings of the trajectories of humans and robots. We discuss the intersection calculation and its fuzzy version in the context of human-robot navigation with respect to noise information. Based on known parameters of the Gaussian input distributions at the orientations of human and robot the parameters of the output distributions at the intersection are to be found by analytical and fuzzy calculation. Furthermore the inverse task is discussed where the parameters of the output distributions are given and the parameters of the input distributions are searched. For larger standard deviations of the orientation signals we suggest mixed Gaussian models as approximation of nonlinear distributions.

Original languageEnglish
Title of host publicationIJCCI 2019 - Proceedings of the 11th International Joint Conference on Computational Intelligence
EditorsJuan Julian Merelo, Jonathan Garibaldi, Alejandro Linares-Barranco, Kurosh Madani, Kevin Warwick, Kevin Warwick
PublisherSciTePress
Pages296-305
Number of pages10
ISBN (Electronic)9789897583841
DOIs
StatePublished - 2019
Externally publishedYes
Event11th International Joint Conference on Computational Intelligence, IJCCI 2019 - Vienna, Austria
Duration: 17 Sep 201919 Sep 2019

Publication series

NameIJCCI 2019 - Proceedings of the 11th International Joint Conference on Computational Intelligence

Conference

Conference11th International Joint Conference on Computational Intelligence, IJCCI 2019
Country/TerritoryAustria
CityVienna
Period17/09/1919/09/19

Keywords

  • Fuzzy modeling
  • Gaussian noise
  • Human-robot interaction
  • Navigation

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