Behavior-based Robot Control Using Fuzzy Discrete Event System

This paper presents a novel behavior-based approach for mobile robot control using Fuzzy Discrete Event System (FDES). The method exploits the multi-valued feature of Fuzzy Logic (FL) and event-driven property of Discrete Event System (DES) to define activity of each behavior using fuzzy state vectors. State-based prediction of activity is accomplished using fuzzily defined event matrices. The method combines aspects of both command fusion and behavior arbitration. Furthermore, the proposed approach has the ability to define state-based observability and controllability to handle sensor uncertainty and environment dynamics. Observability describes decision vagueness associated with sensory data, whereas controllability specifies undesirable state-reach within the observed environment. The present work employs observability and controllability to modify the velocity commands and the sampling frequency depending on decision vagueness and undesirable state-reach. Real-time results of FDES-based mobile robot navigation are presented to validate the performance of the proposed method.