Adaptive Fuzzy Mediation for Multimodal Control of Mobile Robots in Navigation-Based Tasks

Abstract

The paper proposes and analyses performance of a fuzzy-based mediator with showcase examples in robot navigation. The mediator receives outputs from two controllers and uses estimated collision probability for adapting the signal proportions in the final output. The approach was implemented and tested in simulation and on real robots with different footprints. The task complexity during testing varied from single obstacle avoidance to a realistic navigation in real environments. The obtained results showed that this approach is simple but effective.

Keywords

• Fuzzy mediation
• Adaptive control
• Mobile robot
• Neural networks
• Teleoperation