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Fuzzy Modeling, Control and Prediction in Human-Robot Systems

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Computational Intelligence (IJCCI 2016)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 792))

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Abstract

A safe and synchronized interaction between human agents and robots in shared areas requires both long distance prediction of their motions and an appropriate control policy for short distance reaction. In this connection recognition of mutual intentions in the prediction phase is crucial to improve the performance of short distance control. We suggest an approach for short distance control in which the expected human movements relative to the robot are being summarized in a so-called “compass dial” from which fuzzy control rules for the robot’s reactions are derived. To predict possible collisions between robot and human at the earliest possible time, the travel times to predicted human-robot intersections are calculated and fed into a hybrid controller for collision avoidance. By applying the method of velocity obstacles, the relation between a change in robot’s motion direction and its velocity during an interaction is optimized and a combination with fuzzy expert rules is used for a safe obstacle avoidance. For a prediction of human intentions to move to certain goals pedestrian tracks are modeled by fuzzy clustering, and trajectories of human and robot agents are extrapolated to avoid collisions at intersections. Examples with both simulated and real data show the applicability of the presented methods and the high performance of the results.

Rainer Palm is adjunct professor at the AASS, Department of Technology, Orebro University.

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Acknowledgements

This research work has been supported by the AIR-project, Action and Intention Recognition in Human Interaction with Autonomous Systems.

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Authors and Affiliations

  1. AASS MRO Lab, School of Science and Technology, Orebro University, 70182, Orebro, Sweden

    Rainer Palm, Ravi Chadalavada & Achim J. Lilienthal

Authors
  1. Rainer Palm
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  2. Ravi Chadalavada
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  3. Achim J. Lilienthal
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Corresponding author

Correspondence to Rainer Palm .

Editor information

Editors and Affiliations

  1. Department of Computer Architecture and Computer Technology, Universidad de Granada, Granada, Spain

    Juan Julian Merelo

  2. ISEL-Instituto Politécnico de Lisboa, Lisboa, Portugal

    Fernando Melício

  3. Facultad de Informática, Department of Information and Communications Engineering, University of Murcia, Murcia, Spain

    José M. Cadenas

  4. University of Coimbra, Coimbra, Portugal

    António Dourado

  5. Université Paris-Est Créteil (UPEC), Créteil, France

    Kurosh Madani

  6. University of Algarve, Faro, Portugal

    António Ruano

  7. INSTICC, Setúbal, Portugal

    Joaquim Filipe

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Palm, R., Chadalavada, R., Lilienthal, A.J. (2019). Fuzzy Modeling, Control and Prediction in Human-Robot Systems. In: Merelo, J.J., et al. Computational Intelligence. IJCCI 2016. Studies in Computational Intelligence, vol 792. Springer, Cham. https://doi.org/10.1007/978-3-319-99283-9_8

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