Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot

David Adrian Sanders; Alexander Gegov; David Ndzi

doi:10.1007/978-3-319-69266-1_18

Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot

David Adrian Sanders, Alexander Gegov, David Ndzi

School of Computing, Engineering and Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

166 Downloads (Pure)

Abstract

This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations.

Original language	English
Title of host publication	Intelligent Systems and Applications
Subtitle of host publication	Proceedings of SAI Intelligent Systems Conference
Editors	Yaxin Bi, Supriya Kapoor, Rahul Bhatia
Publisher	Springer
Pages	371-392
Number of pages	22
Volume	751
ISBN (Electronic)	9783319692661
ISBN (Print)	9783319692654
DOIs	https://doi.org/10.1007/978-3-319-69266-1_18
Publication status	E-pub ahead of print - 31 Dec 2017
Event	SAI Intelligent Systems Conference 2016 - London, United Kingdom Duration: 21 Sept 2016 → 22 Sept 2016 https://link.springer.com/conference/intellisys

Publication series

Name	Studies in Computational Intelligence
Publisher	Springer
Volume	751
ISSN (Print)	1860-949X

Conference

Conference	SAI Intelligent Systems Conference 2016
Abbreviated title	IntelliSys 2016
Country/Territory	United Kingdom
City	London
Period	21/09/16 → 22/09/16
Internet address	https://link.springer.com/conference/intellisys

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10.1007/978-3-319-69266-1_18Licence: Unspecified

2017 12 31 Sanders et al Knowledge-basedAccepted author manuscript, 1.07 MB

https://researchportal.port.ac.uk/portal/en/publications/knowledgebased-expert-system-using-a-set-of-rules-to-assist-a-teleoperated-mobile-robot(eec27b92-ba8f-4582-be4e-ffb50116956b).html

Cite this

Sanders, D. A., Gegov, A., & Ndzi, D. (2017). Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot. In Y. Bi, S. Kapoor, & R. Bhatia (Eds.), Intelligent Systems and Applications: Proceedings of SAI Intelligent Systems Conference (Vol. 751, pp. 371-392). (Studies in Computational Intelligence; Vol. 751). Springer. Advance online publication. https://doi.org/10.1007/978-3-319-69266-1_18

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title = "Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot",

abstract = "This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations.",

author = "Sanders, {David Adrian} and Alexander Gegov and David Ndzi",

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Sanders, DA, Gegov, A & Ndzi, D 2017, Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot. in Y Bi, S Kapoor & R Bhatia (eds), Intelligent Systems and Applications: Proceedings of SAI Intelligent Systems Conference. vol. 751, Studies in Computational Intelligence, vol. 751, Springer, pp. 371-392, SAI Intelligent Systems Conference 2016, London, United Kingdom, 21/09/16. https://doi.org/10.1007/978-3-319-69266-1_18

Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot. / Sanders, David Adrian; Gegov, Alexander; Ndzi, David.
Intelligent Systems and Applications: Proceedings of SAI Intelligent Systems Conference. ed. / Yaxin Bi; Supriya Kapoor; Rahul Bhatia. Vol. 751 Springer, 2017. p. 371-392 (Studies in Computational Intelligence; Vol. 751).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gegov, Alexander

AU - Ndzi, David

PY - 2017/12/31

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N2 - This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations.

AB - This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations.

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Sanders DA, Gegov A, Ndzi D. Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot. In Bi Y, Kapoor S, Bhatia R, editors, Intelligent Systems and Applications: Proceedings of SAI Intelligent Systems Conference. Vol. 751. Springer. 2017. p. 371-392. (Studies in Computational Intelligence). Epub 2017 Dec 31. doi: 10.1007/978-3-319-69266-1_18

Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot

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