Modular design of fuzzy controller integrating deliberative and reactive strategies

Jianwei Zhang, Frank Wille, Alois Knoll

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations

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.

Original languageEnglish
Pages (from-to)2270-2275
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 22 Apr 199628 Apr 1996

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