Modular Design of Fuzzy Controller Integrating Deliberative and Reactive Strategies - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

This work presents the concept and realisation of the integration of deliberative and reactive strategies f o r 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 f o r fulfilling a certain subtask. The design process of the fuzzy controller is demonstrated with the examples of three rule bases.