Modular design of fuzzy controller integrating deliberative and reactive strategies

This work presents the concept and realisation of the integration of deliberative and reactive strategies for controlling mobile robot systems Programming at the tasklevel in a partiallyknown environment is divided into two consecutive steps subgoal planning and subgoalguided plan execution A modular fuzzy control scheme is proposed which allows independent development and exible integration of dierent rule bases each for fullling a certain subtask The design process of the fuzzy controller is demonstrated with the examples of three rule bases This work aims at integrating sensing planning and control so that the coupling eects of these three co