Title: Efficient object motion prediction using fuzzy Petri net based modelling in a robot navigational environment

Authors: Vijay S. Rajpurohit; M.M. Manohara Pai

Addresses: Department of Computer Science and Engineering, Gogte Institute of Technology, Belgaum 590008, India ' Department of Information and Communication Technology, Manipal Institute of Technology, Manipal 576 104, India

Abstract: Predicting the next instance position of a moving object in a dynamic navigational environment is a critical issue as it involves uncertainty. This paper proposes a fuzzy rule-based motion prediction algorithm for predicting the next instance position of a moving object. The algorithm is robust in handling the uncertain data of real-life situation. The fuzzy rule base modeling is done using Fuzzy Petri Net (FPN) formalism. The prediction algorithm is tested for real-life bench-marked data sets and compared with existing motion prediction techniques. The performance of the algorithm is comparable to the existing prediction methods.

Keywords: short term motion prediction; fuzzy rule base; rule base optimisation; fuzzy predictor algorithm; fuzzy Petri nets; modelling; directional space approach; table look-up operation; object motion; robot navigation; robot motion; simulation; mobile robots.

DOI: 10.1504/IJVAS.2012.047692

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.1/2, pp.19 - 40

Received: 24 Feb 2010
Accepted: 04 Aug 2010
Published online: 31 Dec 2014 *

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