Mobile Robot Navigation based on Fuzzy Discrete Event Systems

AbstractRecently, 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.