Abstract
Obstacle detection is one of key issues in robotics because robots should avoid obstacles not to collide with or use them to obtain some information in the environment. Decision making for a proper gaze direction to get more information is also an important issue when there are many obstacles, in particular, dynamic obstacles. To deal with these issues, this paper proposes fuzzy integral-based gaze control for obstacle detection of mobile robots. The fuzzy measures are calculated with the preference degree for five criteria about obstacle detection and the fuzzy integral decides a final gaze direction using the fuzzy measure values and partial evaluation values with respect to the five criteria. Computer simulation demonstrates the effectiveness of the proposed algorithm.
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Han, SB., Yoo, JK., Kim, JH. (2013). Obstacle Detection Using Fuzzy Integral-Based Gaze Control for Mobile Robot. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_3
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DOI: https://doi.org/10.1007/978-3-642-37374-9_3
Publisher Name: Springer, Berlin, Heidelberg
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