In \fuzzy Logic Techniques for Autonomous Vehicle Navigation", Edited Integrating Deliberative and Reactive Strategies via Fuzzy Modular Control

This work presents the concept and realisation of the integration of deliberative and reactive strategies for controlling mobile robot systems. General motion control 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 exi-ble integration of diierent rule bases, each for fulllling a certain subtask. An on-line situation evaluator assigns each rule base a weight according to the importance of the subtask. In this way, during motion between subgoals, the robot does not move along a statically planned trajectory but under the control of a sensor-based scheme guided by subgoals.