Supervisory control of Fuzzy Discrete Event Systems and its application to mobile robot navigation

Author

Jayasiri, Awantha ; Mann, George K I ; Gosine, Raymond G.

Author_Institution

Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John´´s, NL

fYear

2009

fDate

3-6 May 2009

Firstpage

1147

Lastpage

1151

Abstract

A supervisory control of fuzzy discrete event systems (FDES) that can be effectively used in behavior based robotics is presented. Fuzzy controllable and uncontrollable events are newly defined to activate deliberative and reactive behaviors. A fuzzy supervisor is defined in order to activate both fuzzy controllable and uncontrollable events together. The fuzzy observability concept is incorporated. The proposed approach is extended to discuss an application.

Keywords

discrete event systems; fuzzy control; mobile robots; navigation; observability; fuzzy discrete event systems; fuzzy observability; mobile robot; navigation; supervisory control; Control systems; Discrete event systems; Fuzzy control; Fuzzy sets; Fuzzy systems; Mobile robots; Navigation; Observability; Robot kinematics; Supervisory control; Fuzzy Discrete event systems; behavior coordination; fuzzy observability; mobile robotics; supervisory control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2009. CCECE '09. Canadian Conference on

Conference_Location

St. John´s, NL

ISSN

0840-7789

Print_ISBN

978-1-4244-3509-8

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2009.5090305

Filename

5090305