Paper Info
Title
Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems.
Abstract
In order to incorporate the uncertainty and impreciseness present in real-world event-driven asynchronous systems, fuzzy discrete event systems (DESs) (FDESs) have been proposed as an extension to crisp DESs. In this paper, first, we propose an extension to the supervisory control theory of FDES by redefining fuzzy controllable and uncontrollable events. The proposed supervisor is capable of enabling feasible uncontrollable and controllable events with different possibilities. Then, the extended supervisory control framework of FDES is employed to model and control several navigational tasks of a mobile robot using the behavior-based approach. The robot has limited sensory capabilities, and the navigations have been performed in several unmodeled environments. The reactive and deliberative behaviors of the mobile robotic system are weighted through fuzzy uncontrollable and controllable events, respectively. By employing the proposed supervisory controller, a command-fusion-type behavior coordination is achieved. The observability of fuzzy events is incorporated to represent the sensory imprecision. As a systematic analysis of the system, a fuzzy-state-based controllability measure is introduced. The approach is implemented in both simulation and real time. A performance evaluation is performed to quantitatively estimate the validity of the proposed approach over its counterparts.
Year
DOI
Venue
2011
10.1109/TSMCB.2011.2119311
IEEE Transactions on Systems, Man, and Cybernetics, Part B
Keywords
Field
DocType
controllability,discrete event systems,fuzzy control,mobile robots,observability,path planning,command-fusion-type behavior coordination,event-driven asynchronous system,fuzzy controllable event,fuzzy discrete event systems,fuzzy event observability,fuzzy uncontrollable event,fuzzy-state-based controllability measurement,mobile robot behavior coordination,mobile robot navigational task,robot deliberative behavior,robot reactive behavior,supervisory control,Behavior coordination,discrete event systems (DESs),fuzzy logic,mobile robotics,supervisory control
Observability,Control theory,Controllability,Computer science,Control theory,Supervisory control,Fuzzy logic,Supervisory control theory,Fuzzy control system,Mobile robot
Journal
Volume
Issue
ISSN
41
5
1941-0492
Citations 
PageRank 
References 
15
0.69
24
Authors
3
Name
Order
Citations
PageRank
Awantha Jayasiri1393.55
George K. I. Mann242539.50
Raymond G. Gosine325224.37