TY - GEN
T1 - An optimized fuzzy based short term object motion prediction for real-life robot navigation environment
AU - Rajpurohit, Vijay S.
AU - Pai, M. M.Manohara
PY - 2008/11/10
Y1 - 2008/11/10
N2 - Short term motion prediction for moving objects in a real life Robotic navigation environment involves uncertainty and temporal validity of the results.Prediction of accurate position of a moving object and responding with quick action are the main objectives of Robot motion planning. This paper proposes a novel algorithm for short term motion prediction involving a fuzzy based predictor. Because of the multi valued nature of the fuzzy logic, this approach enjoys high robustness in dealing with noisy and uncertain data. The knowledge captured by the Rulebase has been optimized by defining directional space. In the proposed work the predictor has been evaluated with three well known defuzzification techniques. Based on the analysis of results, it has been found that Mean Of Maximum defuzzification technique has lower response time and better accuracy. The predictor is tested for various motion patterns in real life environment.
AB - Short term motion prediction for moving objects in a real life Robotic navigation environment involves uncertainty and temporal validity of the results.Prediction of accurate position of a moving object and responding with quick action are the main objectives of Robot motion planning. This paper proposes a novel algorithm for short term motion prediction involving a fuzzy based predictor. Because of the multi valued nature of the fuzzy logic, this approach enjoys high robustness in dealing with noisy and uncertain data. The knowledge captured by the Rulebase has been optimized by defining directional space. In the proposed work the predictor has been evaluated with three well known defuzzification techniques. Based on the analysis of results, it has been found that Mean Of Maximum defuzzification technique has lower response time and better accuracy. The predictor is tested for various motion patterns in real life environment.
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U2 - 10.1007/978-3-540-85891-1_15
DO - 10.1007/978-3-540-85891-1_15
M3 - Conference contribution
AN - SCOPUS:55349102342
SN - 3540858903
SN - 9783540858904
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 114
EP - 125
BT - Visual Information Systems
T2 - 10th International Conference on Visual Information Systems, VISUAL 2008
Y2 - 11 September 2008 through 12 September 2008
ER -