Modular design of fuzzy controller integrating deliberative and reactive strategies

Author

Zhang, Jianwei ; Wille, Frank ; Knoll, Alois

Author_Institution

Tech. Comput. Sci., Bielefeld Univ., Germany

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2270

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

Keywords

control system synthesis; fuzzy control; mobile robots; planning (artificial intelligence); robot programming; deliberative strategies; fuzzy controller; mobile robot systems; modular fuzzy control scheme; partially-known environment; reactive strategies; subgoal planning; subgoal-guided plan execution; task-level programming; Computer science; Control systems; Fuzzy control; Mobile robots; Motion control; Motion planning; Path planning; Robot control; Robot motion; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506502

Filename

506502