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 language | English |
|---|---|
| Pages (from-to) | 2270-2275 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 22 Apr 1996 → 28 Apr 1996 |