Mobile robot behavior coordination using supervisory control of Fuzzy Discrete Event Systems

This paper presents a novel approach to behavior based control of mobile robots using supervisory control of Fuzzy Discrete Event Systems (FDES). Fuzzy events are triggered by the sensor readings and the inference occurs through a fuzzy rule base system. The supervisor can activate and control fuzzy controllable events simultaneously with fuzzy uncontrollable events to achieve the planned objectives. The fuzzy observability concept is incorporated to represent sensor uncertainties. Fuzzy state based controllability and observability measures are also discussed. The proposed theoretical development is then extended to discuss an application with behavior based control of mobile robots.