Call for Paper - August 2022 Edition
IJCA solicits original research papers for the August 2022 Edition. Last date of manuscript submission is July 20, 2022. Read More

Modeling of the Reactive Navigation of Autonomous Robot using the Discrete Event System Specification DEVS

Print
PDF
International Journal of Computer Applications
© 2012 by IJCA Journal
Volume 45 - Number 9
Year of Publication: 2012
Authors:
Kadda Mostefaoui
Youcef Dahmani
10.5120/6807-9148

Kadda Mostefaoui and Youcef Dahmani. Article: Modeling of the Reactive Navigation of Autonomous Robot using the Discrete Event System Specification DEVS. International Journal of Computer Applications 45(9):19-24, May 2012. Full text available. BibTeX

@article{key:article,
	author = {Kadda Mostefaoui and Youcef Dahmani},
	title = {Article: Modeling of the Reactive Navigation of Autonomous Robot using the Discrete Event System Specification DEVS},
	journal = {International Journal of Computer Applications},
	year = {2012},
	volume = {45},
	number = {9},
	pages = {19-24},
	month = {May},
	note = {Full text available}
}

Abstract

This paper presents the modeling and simulation of reactive navigation of a mobile robot using the characteristics of discrete event systems (DEVS), which is a young approach in modeling and simulation. The mobility and the autonomy of robots pose complex problems, as regards generation of trajectory in strongly constrained and unstructured spaces, and decision-making based on inaccurate or incomplete information sensors. In this work we propose an architecture based on the DEVS (Discrete Event System Specification) and the theory of fuzzy logic for modeling and simulation of an intelligent agent observing, deciding, acting on a dynamic and uncertain environment in context of the DEVS formalism. This problem is at the border of two areas of research: artificial intelligence (Mobile Robotics) and modeling and simulation.

References

  • Bisgambiglia P. A. , " Approximate modeling approach for discrete event systems: Application to the study of propagation of forest fires ", PhD Thesis, University of Corsica - Pasquale Paoli, France, 2008
  • Bernard P. Zeigler. Theory of Modeling and Simulation. Academic Press, 1976.
  • F. Barros. Dynamic structure discrete event system speci?cation : a new formalism for dynamic structure modelling and simulation. In Proceedings of Winter Simulation Conference 1995, 1995.
  • A. Uhrmarcher. Dynamic Structures in Modeling and Simulation : A Re?ective Approach. ACM Transactions on Modeling and Computer Simulation vol. 11 2001, pages 206–232, 2001.
  • Lewis Ntaimo and Bernard P. Zeigler. Expressing a forest cell model in parallel DEVS and timed cell-DEVS formalisms. Proceedings of the 2004 Summer Computer Simulation Conference, 2002.
  • Alejandro Troccoli and Gabriel Wainer. Implementing parallel cell-DEVS. In IEEE, editor, Proceedings of the 36th Annual Simulation Symposium, 2003.
  • L. A. Zadeh. Fuzzy sets. Information Control, 8 :338–353, 1965.
  • Chuen Lee. Fuzzy logic in control systems: Fuzzy logic controller - part I. IEEE Transactions on Systems, Man and Cybernetics, 20(2):404–418, March/April 1990.
  • Jean-Baptiste Filippi, Paul Bisgambiglia: JDEVS: an implementation of a DEVS based formal framework for environmental modelling, 14 August 2003