Decision making at a level of a hierarchical control for unmanned robot

An Intelligent Mobile Autonomous System (IMAS), which is equipped with vision and low level sensors to cope with unknown obstacles, is modeled as a hierarchy of decision making for motion planning and control. The world description is based on linguistic variables that assume values from possible interval corresponds to the membership grade to a fuzzy set. The decision making is presented as a production system with a fuzzy database. The choice of optimal motion execution commands are performed using fuzzy set operators. Also included in the paper is the procedure of rule derivation and examples based on low level motion control.