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Distributed fuzzy discrete event system for robotic sensory information processing

Abstract: This paper presents a novel intelligent sensory information processing technique using a fuzzy discrete event system (FDES) for robotic control. The proposed method combines the predictive control approach of a discrete event system with the approximate reasoning aspect of fuzzy logic. It develops a supervisory control strategy for behavior‐based robotic control using distributed FDES. The application of distributed FDES eliminates the formation of complex fuzzy predicates and a large fuzzy rule‐base. The FDES‐based approach also provides means for analyzing behavior‐based decision‐making using the observability and controllability of an FDES. The observability of an FDES describes uncertainties in sensory data, and the controllability of an FDES exploits uncertain state transitions in a dynamic environment. Comprehensive experiments on behavior‐based mobile robot navigation are presented to authenticate the performance of the proposed methodology.