Discrete event fuzzy logic control with application to sensor-based intelligent mobile robotics

Abstract

In this paper, we investigate an intelligent discrete event method suitable for modeling, simulation and control of hybrid systems. More in detail, a fuzzy logic approach based on discrete event system specification (DEVS) is introduced in the present work. The resulting discrete event fuzzy logic (DEFuL) is shown to be faster since it is event-driven, and more suitable for real-time adaptive control. DEFuL is used successfully in both simulation and real-time control of sensor-based intelligent mobile robots, illustrating how the above concepts can be fruitfully applied