Sensor fusion for mobile robot navigation: fuzzy associative memory

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7 Citations (Scopus)

Abstract

The mobile robot navigation with complex environment needs more input space to match the environmental data into robot outputs in order to perform a realistic task. At the same time, the number of rules at the rule base needs to be optimized to reduce the computing time and to provide the possibilities for real time operation. In this paper, a sensor fusion technique is proposed to enhance the navigation rules using a Modified Fuzzy Associative Memory. In the proposed method, the rule base uses fuzzy compositional rule of inference and fuzzy associativity. This technique provides good flexibility to use multiple input space and reduction of rule base for robot navigation. The behavior rules obtained from Modified Fuzzy Associative Memory model are tested using simulation and real world experiments, and the results are discussed in the paper and compared with the existing methods.
Original languageEnglish
Title of host publicationProceedings of the 2nd International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012)
EditorsHanafiah Yussof, Hayder Al-Assadi
Place of PublicationNetherlands
PublisherElsevier
Pages251 - 256
Number of pages6
ISBN (Electronic)1877-7058
DOIs
Publication statusPublished - 2012
EventInternational Symposium on Robotics and Intelligent Sensors 2012 - Hilton Hotel, Kuching, Sarawak, Malaysia
Duration: 4 Sep 20126 Sep 2012
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Conference

ConferenceInternational Symposium on Robotics and Intelligent Sensors 2012
Abbreviated titleIRIS 2012
Country/TerritoryMalaysia
CityKuching, Sarawak
Period4/09/126/09/12
Other2012 International Symposium on Robotics and Intelligent Sensors

September 4-6, 2012, Kuching, Sarawak, Malaysia

Theme:

"SMART SENSORS, SMART ROBOTS"

Venue: Hilton Hotel, Kuching, Sarawak

Welcome to the 2nd International Symposium on Robotics and Intelligent Sensors 2012 (IRIS2012). The event is organized by Universiti Teknologi MARA (UiTM), Malaysia, the Malaysian Robotics and Automation Interest Group (MYRAig), and Nagoya University, Japan. IRIS2012 is intended to provide technical forum and discussion related with robotics and sensors. The symposium is aimed to bring together researchers, academicians, scientists, students, engineers and practitioners to participate and present their latest findings, ideas, developments and applications related to the various aspects of robotics and sensors. IRIS2012 will features interactive Technical Sessions, Special Sessions, Workshop and Exhibition. The programs include keynote addresses by eminent scientists as well as presentation by delegates from industries. IRIS2012 proceedings is indexed in IEEE Xplorer (in progress) and extended version of selected best papers will be consider for publication in selected journals. Papers presented in Special Session will be publish in both proceedings and journal.
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