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by Driankov Springer, Jianwei Zhang, Alois Knoll
http://www.techfak.uni-bielefeld.de/techfak/ags/ti/forschung/publikationen/veh-nav-fuzzy.ps.gz
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Abstract:
Abstract. 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 flexible integration of different rule bases, each for fulfilling 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. 1
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