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Authors: Rainer Palm ; Ravi Chadalavada and Achim J. Lilienthal

Affiliation: Oerebro University, Sweden

Keyword(s): Fuzzy Control, Fuzzy Modeling, Human-robot Interaction, Human Intentions.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Systems ; Fuzzy Systems Design, Modeling and Control ; Soft Computing

Abstract: 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 disc ussed. Computations based on simulated and experimental data show the applicability of the methods presented. (More)

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Paper citation in several formats:
Palm, R.; Chadalavada, R. and Lilienthal, A. (2016). Fuzzy Modeling and Control for Intention Recognition in Human-robot Systems. In Proceedings of the 8th International Joint Conference on Computational Intelligence (IJCCI 2016) - FCTA; ISBN 978-989-758-201-1, SciTePress, pages 67-74. DOI: 10.5220/0006015400670074

@conference{fcta16,
author={Rainer Palm. and Ravi Chadalavada. and Achim J. Lilienthal.},
title={Fuzzy Modeling and Control for Intention Recognition in Human-robot Systems},
booktitle={Proceedings of the 8th International Joint Conference on Computational Intelligence (IJCCI 2016) - FCTA},
year={2016},
pages={67-74},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006015400670074},
isbn={978-989-758-201-1},
}

TY - CONF

JO - Proceedings of the 8th International Joint Conference on Computational Intelligence (IJCCI 2016) - FCTA
TI - Fuzzy Modeling and Control for Intention Recognition in Human-robot Systems
SN - 978-989-758-201-1
AU - Palm, R.
AU - Chadalavada, R.
AU - Lilienthal, A.
PY - 2016
SP - 67
EP - 74
DO - 10.5220/0006015400670074
PB - SciTePress

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