Integrating Deliberative and Reactive Strategies via Fuzzy Modular Control

摘要

This work aims at integrating sensing, path planning and control so that the coupling effects of these three components can be taken into account in order to enhance the performance of the whole system. Planning methods which are totally separated from sensing and control normally assume that the robot environment is completely known. Surveys of path planning methods are given in [3]. Pure geometric path planning in known environments constitutes a deliberative strategy. The approaches following this strategy normally have to solve problems of space division/representation, search and complexity analysis of planning algorithms. By contrast, the reactive strategy regards path planning as a local feedback control problem. The task of local motion control is to determine the motion parameters for driving all the actuators by evaluating the up-to-date sensor information as well as how well a predescribed path is followed.