Fuzzy selection and blending of behaviors for situated autonomous agent

Abstract

Intelligent control is a field of research attempting to attain demanding control goals in complex systems. To do so, many methods and theories must be combined and used efficiently. We propose a new control architecture that tries to unify the principles and characteristics associated with intelligence. This architecture uses behaviors as its basic control components. These behaviors are selected dynamically and their actions are combined according to the intentions of the agent. Introspection of its reactions is one major new ability given to the agent by this architecture. A simulated world for mobile robots is used to validate the characteristics and the principles associated with our proposed architecture. This article focuses on the use of fuzzy logic for the implementation of the architecture in this particular application.