Uncertainty and Fuzzy Modeling in Human-robot Navigation

Rainer Palm, Achim J. Lilienthal

2019

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.

Paper Citation

in Harvard Style

Palm R. and Lilienthal A. (2019). Uncertainty and Fuzzy Modeling in Human-robot Navigation. In Proceedings of the 11th International Joint Conference on Computational Intelligence (IJCCI 2019) - Volume 1: FCTA; ISBN 978-989-758-384-1, SciTePress, pages 296-305. DOI: 10.5220/0008344902960305

in Bibtex Style

@conference{fcta19,
author={Rainer Palm and Achim J. Lilienthal},
title={Uncertainty and Fuzzy Modeling in Human-robot Navigation},
booktitle={Proceedings of the 11th International Joint Conference on Computational Intelligence (IJCCI 2019) - Volume 1: FCTA},
year={2019},
pages={296-305},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008344902960305},
isbn={978-989-758-384-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Joint Conference on Computational Intelligence (IJCCI 2019) - Volume 1: FCTA
TI - Uncertainty and Fuzzy Modeling in Human-robot Navigation
SN - 978-989-758-384-1
AU - Palm R.
AU - Lilienthal A.
PY - 2019
SP - 296
EP - 305
DO - 10.5220/0008344902960305
PB - SciTePress