Fuzzy supervisor for behavioral control of autonomous systems

摘要

Presents a fuzzy implementation of a fusion supervisor of primitive behaviors in a reactive control system of an autonomous mobile robot in order to synthesize more complex robot behaviors. The authors also present a fuzzy controller of a path following primitive behavior. Both supervisor and controller are part of an architecture for the execution of mobile robot tasks composed of several primitive behaviors in a simultaneous or concurrent fashion. The implementation has been tested within OPMOR, a simulation environment for mobile robots. >