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Fuzzy Modeling and Control for Intention Recognition in Human-Robot Systems
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2016 (English)In: Proceedings of the 8th International Joint Conference on Computational Intelligence (IJCCI 2016), Setúbal, Portugal: SciTePress, 2016, Vol. 2, 67-74 p.Conference paper, Published paper (Refereed)
Abstract [en]

The recognition of human intentions from trajectories in the framework of human-robot interaction is a challenging field of research. In this paper some control problems of the human-robot interaction and their intentions to compete or cooperate in shared work spaces are addressed and the time schedule of the information flow is discussed. The expected human movements relative to the robot are summarized in a so-called "compass dial" from which fuzzy control rules for the robot's reactions are derived. To avoid collisions between robot and human very early the computation of collision times at predicted human-robot intersections is discussed and a switching controller for collision avoidance is proposed. In the context of the recognition of human intentions to move to certain goals, pedestrian tracks are modeled by fuzzy clustering, lanes preferred by human agents are identified, and the identification of degrees of membership of a pedestrian track to specific lanes are discussed. Computations based on simulated and experimental data show the applicability of the methods presented.

Place, publisher, year, edition, pages
Setúbal, Portugal: SciTePress, 2016. Vol. 2, 67-74 p.
Keyword [en]
Fuzzy control, Fuzzy modeling, Human-Robot interaction, human intentions
National Category
Computer and Information Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-53710DOI: 10.5220/0006015400670074ISI: 000393153800005Scopus ID: 2-s2.0-85006466619ISBN: 978-989-758-201-1 (print)OAI: oai:DiVA.org:oru-53710DiVA: diva2:1051090
Conference
8th International Conference on Computational Intelligence IJCCI 2016, FCTA, Porto, Portugal, November 9-11, 2016
Projects
Action and Intention Recognition in Human Interaction with Autonomous Systems
Note

Funding Agency:

AIR-project, Action and Intention Recognition in Human Interaction with Autonomous Systems

Available from: 2016-12-01 Created: 2016-12-01 Last updated: 2017-10-18Bibliographically approved

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Palm, RainerChadalavada, RaviLilienthal, Achim
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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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Output format
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  • asciidoc
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