The human-robot interaction will be more and more important in the close future. The behavior based robot control is simplified using fuzzy control. If the robot is doing a complex task, its behavior can be described with fuzzy rules. This kind of control method can be is easier implemented then the classical ones. Using fuzzy rule interpolation when the number of rules is high, the system can be described by the significant rules only.

    The paper presents a robot with ball playing task. The ball is detected using image processing methods. The images are processed using OpenCV library. The image processing function is implemented as a task of ROS node (Robot Operating System) on a Raspberry Pi computer placed on the robot. The mobile robot moves in holonomic way.

    In the field augmented reality markers are used for localization and navigation. The markers are detected on the same camera image as the ball. The markers positions are known by the robot. The robot computes its own position according to the detected markers. The navigation control is based on fuzzy rule interpolation, in this way the robot can avoid obstacles and approach the destination point.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fuzzy Rule Interpolation Based Object Tracking and Navigation for Social Robot


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Jármai, Károly (Herausgeber:in) / Bolló, Betti (Herausgeber:in) / Bartók, Roland (Autor:in) / Vásárhelyi, József (Autor:in)

    Kongress:

    Vehicle and Automotive Engineering ; 2018 ; Miskolc, Hungary May 23, 2018 - May 25, 2018



    Erscheinungsdatum :

    2018-05-10


    Format / Umfang :

    6 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fuzzy Rule Interpolation Based Object Tracking and Navigation for Social Robot

    Bartók, Roland / Vásárhelyi, József | TIBKAT | 2018


    Rule-base Reduction in Fuzzy Rule Interpolation-based Q-learning

    Vincze, Dávid / Kovács, Szilveszter | BASE | 2015

    Freier Zugriff

    Experimental method to derive fuzzy rule base, application to mobile robot navigation

    Lakehal,B. / Babaci,S. / Laboratoire d'Infromatique Industrielle d'Automatique,FR | Kraftfahrwesen | 1996


    Experimental Method to Derive Fuzzy Rule Base. Application to Mobile Robot Navigation

    Lakehal, B. / Babaci, S. | British Library Conference Proceedings | 1996