Modular design of fuzzy controller integrating deliberative and reactive strategies

摘要

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.