Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Behavior-modulation technique in mobile robotics using fuzzy discrete event system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
3 Author(s)
Huq, R. ; Centre for Cold Ocean Resources Eng., Memorial Univ. of Newfoundland, St. John''s, Nfld. ; Mann, G.K.I. ; Gosine, R.G.

This paper presents a novel behavior-modulation technique using a fuzzy discrete event system (FDES) for behavior-based robotic control. The method exploits the multivalued feature of fuzzy logic (FL) and event-driven property of a discrete event system (DES) to generate the activity of a behavior using fuzzy state vectors. State-based prediction of an activity is accomplished using fuzzily defined event matrices. A central arbiter employs priority-based arbitration among the activity state vectors and generates new event matrices to modify the activity states of the behaviors. 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 sensory uncertainty and environmental dynamics. Observability describes decision vagueness associated with sensory data, whereas controllability specifies undesirable state-reach within the observed environment. Real-time results of FDES-based mobile robot navigation are presented and compared against four different modulation methods to validate its superior performance

Published in:

Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 5 )