Generalized Net Model with Intuitionistic Fuzzy Estimations of the Humanoid Robot Behavior During Navigation Tasks

In the present study we propose an approach to model the humanoid service robot behavior during a specific navigation task based on two mathematical formalisms, the Intuitionistic Fuzzy Sets (IFSs) and the Generalized Nets (GNs). Moreover, we include some possibilities for the possible ways for evaluating the overall performance of the robot. To do this we can apply estimations of the intuitionistic fuzzy sets. The estimations, which signify the degree of successfulness (µ) and non-successfulness (ν) of the current navigation task, are represented by ordered pairs <µ, ν> of real numbers from the set [0, 1]. In addition, we study the degree of uncertainty π = 1 − µ − ν that appears in those cases when the navigation task is not fully performed by some reason, either due to the environment or the robot itself. The intuitionistic fuzzy estimations in the proposed model give information for the possible reasons of the task failure, the accuracy of the performance of the robot and the efficiency of the robot when performing navigation tasks.