2010
EMSS 2010 Proceeding
DEVS: an add-on for reactive navigation
Authors: Youcef Dahmani, Maamar Hamri
Abstract
This article discusses the use of the discrete event system specification (DEVS) to simulate reactive navigation. The article illustrates the utility of this formalism to combine behavioural robot navigation and systems modelling concepts. In this work, we exploit the fuzzy logic theory in order to deal with imprecise and inaccurate robot localization. The data obtained from the localization module are presented to our DEVS model which is composed about three states representing respectively three behaviours: following left wall, following right wall and corridor following. Some modifications in Fuzzy Inference System are presented to optimize the calculus time.
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