Title :
Fuzzy Cognitive Map Based Situation Assessment Framework for Navigation Goal Detection
Author :
Ganganath, Nuwan ; Walker, M. ; Leung, Henry
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Calgary, Calgary, AB, Canada
Abstract :
Navigation goal detection in complex real world scenarios is challenging for autonomous mobile robots due to the uncertainty and ambiguity of their environments. This paper proposes a fuzzy cognitive map (FCM) based situation assessment framework (SAF) for mobile robot navigation goal detection. A given navigation goal is described with several sub-goals using prior knowledge. Based upon these sub-goals, the proposed SAF operates recursively on the navigation goal to verify it. The decision fusion system combines sensory information from multiple sensors to verify the sub-goals. The FCM, which is realized using fuzzy gamma fusion, is used as a high level reasoning engine. The navigation goals are verified based on the rules which connect sub-goals together and the goal assertion confidence of sub-goals which is decided using FCM inference. Experimental results demonstrate that the proposed framework can accurately decide the navigation goals in unknown environments based on the sensory information and expert knowledge.
Keywords :
cognitive systems; control engineering computing; decision theory; expert systems; fuzzy set theory; inference mechanisms; mobile robots; object detection; path planning; sensor fusion; FCM based situation assessment framework; SAF; autonomous mobile robots; decision fusion system; expert knowledge; fuzzy cognitive map based situation assessment framework; fuzzy gamma fusion; goal assertion confidence; high level reasoning engine; mobile robot navigation goal detection; sensory information; Image color analysis; Navigation; Robot kinematics; Robot sensing systems; Shape; 3D recognition; FCM; Kinect; SAF; robot navigation;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.249