TELKOMNIKA Telecommunication, Computing, Electronics and Control
Scheme for motion estimation based on adaptive fuzzy neural network
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Scheme for motion estimation based on adaptive fuzzy neural network
Scheme for motion estimation based on adaptive fuzzy neural network
Subject
Adaptive learning algorithm, Fuzzy neural network, Motion planning, Service robot
Description
Many applications of robots in collaboration with humans require the robot to follow the person autonomously. Depending on the tasks and their context, this type of tracking can be a complex problem. The paper proposes and evaluates a principle of control of autonomous robots for applications of services to people, with the capacity of prediction and adaptation for the problem of following people without the use of cameras (high level of privacy) and with a low computational cost. A robot can easily have a wide set of sensors for different variables, one of the classic sensors in a mobile robot is the distance sensor. Some of these sensors are capable of collecting a large amount of information sufficient to precisely define the positions of objects (and therefore people) around the robot, providing objective and quantitative data that can be very useful for a wide range of tasks, in particular, to perform
autonomous tasks of following people. This paper uses the estimated distance from a person to a service robot to predict the behavior of a person, and thus improve performance in autonomous person following tasks. For this, we use an adaptive fuzzy neural network (AFNN) which includes a fuzzy neura network based on Takagi-Sugeno fuzzy inference, and an adaptive learning algorithm to update the membership functions and the rule base. The validity of the proposal is verified both by simulation and on a real prototype. The average RMSE of prediction over the 50 laboratory tests with different people acting as target object was 7.33.
autonomous tasks of following people. This paper uses the estimated distance from a person to a service robot to predict the behavior of a person, and thus improve performance in autonomous person following tasks. For this, we use an adaptive fuzzy neural network (AFNN) which includes a fuzzy neura network based on Takagi-Sugeno fuzzy inference, and an adaptive learning algorithm to update the membership functions and the rule base. The validity of the proposal is verified both by simulation and on a real prototype. The average RMSE of prediction over the 50 laboratory tests with different people acting as target object was 7.33.
Creator
Fredy MartÃnez, Cristian Penagos, Luis Pacheco
Source
DOI: 10.12928/TELKOMNIKA.v18i2.14752
Publisher
Universitas Ahmad Dahlan
Date
April 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Fredy MartÃnez, Cristian Penagos, Luis Pacheco, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Scheme for motion estimation based on adaptive fuzzy neural network,” Repository Horizon University Indonesia, accessed September 20, 2024, https://repository.horizon.ac.id/items/show/3682.
Scheme for motion estimation based on adaptive fuzzy neural network,” Repository Horizon University Indonesia, accessed September 20, 2024, https://repository.horizon.ac.id/items/show/3682.