Title :
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
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;
Conference_Titel :
Electrical and Computer Engineering, 2009. CCECE '09. Canadian Conference on
Conference_Location :
St. John´s, NL
Print_ISBN :
978-1-4244-3509-8
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2009.5090305
