Modular design of fuzzy controller integrating deliberative and reactive strategies
- 23 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2270-2275
- https://doi.org/10.1109/robot.1996.506502
Abstract
This work presents the concept and realisation of the integration of deliberative and reactive strategies for controlling mobile robot systems. Programming at the task-level in a partially-known environment is divided into two consecutive steps: subgoal planning and subgoal-guided plan execution. A modular fuzzy control scheme is proposed, which allows independent development and flexible integration of different rule bases, each for fulfilling a certain subtask. The design process of the fuzzy controller is demonstrated with the examples of three rule bases Author(s) Jianwei Zhang Tech. Comput. Sci., Bielefeld Univ., Germany Wille, F. ; Knoll, A.Keywords
This publication has 6 references indexed in Scilit:
- Driving a car using reflexive fuzzy behaviorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Proposal of tangent graph and extended tangent graph for path planning of mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Fuzzy logic-based planning and reactive control of autonomous mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A method of autonomous mobile robot navigation by using fuzzy controlAdvanced Robotics, 1994
- Gross motion planning—a surveyACM Computing Surveys, 1992
- Numerical potential field techniques for robot path planningIEEE Transactions on Systems, Man, and Cybernetics, 1992