Mobile robot navigation based on fuzzy discrete event systems

Download
2009-12-01
Tampakis, Georgios
Schmidt, Klaus Verner
Boutalis, Yiannis
Recently, several approaches for the control of fuzzy discrete event systems (FDES) have been proposed. First results towards the use of FDES in mobile robot navigation have also been presented, which however mainly build on sensory information processing. In this paper, we develop a methodology to compute control actions for the navigation of a mobile robot based on distributed FDES. The FDES description permits to take into account possible uncertainties in sensory information and enables a prediction of the future behavior of the robot depending on potential control actions. This prediction can then be used to select the most appropriate control action in each time instant. Our approach is tested by simulations of a mobile robot that encounters unknown obstacles on a pre-defined path.

Suggestions

Multi-objective decision making using fuzzy discrete event systems: A mobile robot example
Boutalis, Yiannis; Schmidt, Klaus Verner (2010-09-29)
In this paper, we propose an approach for the multi-objective control of sampled data systems that can be modeled as fuzzy discrete event systems (FDES). In our work, the choice of a fuzzy system representation is justified by the assumption of a controller realization that depends on various potentially imprecise sensor measurements. Our approach consists of three basic steps that are performed in each sampling instant. First, the current fuzzy state of the system is determined by a sensor evaluation. Seco...
On maximal permissiveness of hierarchical and modular supervisory control approaches for discrete event systems
Schmidt, Klaus Verner (2008-08-26)
Recently, several efficient modular and hierarchical approaches for the control of discrete event systems (DES) have been proposed. Although these methods are very suitable for dealing with the state space explosion problem, their common limitation is that either maximal permissiveness is not addressed or unnecessarily restrictive conditions are required in order to ensure maximally permissive control. In this paper we develop a unified framework for the investigation of maximal permissiveness of modular co...
Fuzzy Discrete Event Systems for Multiobjective Control: Framework and Application to Mobile Robot Navigation
Schmidt, Klaus Verner (2012-10-01)
Fuzzy discrete event systems (FDESs) have been introduced in recent years to model systems whose discrete states or discrete state transitions can be uncertain and are, hence, determined by a possibility degree. This paper develops an FDES framework for the control of sampled data systems that have to fulfill multiple objectives. The choice of a fuzzy system representation is justified by the assumption of a controller realization that depends on various potentially imprecise sensor measurements. The propos...
Hierarchical multitasking control of discrete event systems: Computation of projections and maximal permissiveness
Schmidt, Klaus Verner; Cury, José E.r. (null; 2010-12-01)
This paper extends previous results on the hierarchical and decentralized control of multitasking discrete event systems (MTDES). Colored observers, a generalization of the observer property, together with local control consistency, allow to derive sufficient conditions for synthesizing modular and hierarchical control that are both strongly nonblocking (SNB) and maximally permissive. A polynomial procedure to verify if a projection fulfills the above properties is proposed and in the case they fail for a g...
Hierarchical discrete event systems with inputs and outputs
Perk, Sebastian; Moor, Thomas; Schmidt, Klaus Verner (null; 2006-12-01)
We propose a framework for the hierarchical design of discrete event systems that addresses both safety and liveness properties. Technically, we build on a notion of inputs and outputs that is closely related to J.C. Willems' behavioural systems theory. We develop a structural admissibility condition that allows for abstraction-based controller synthesis similar to previous work on hybrid control systems. A key feature of our framework is an alternation of subsystem composition and controller synthesis that...
Citation Formats
G. Tampakis, K. V. Schmidt, and Y. Boutalis, “Mobile robot navigation based on fuzzy discrete event systems,” 2009, vol. 2, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40238.