Mobile Robot Autonomy via Hierarchical Fuzzy Behavior Control

Realization of autonomous behavior in mobile robots, using fuzzy logic control, requires formulation of rules which are collectively responsible for necessary levels of intelligence. This collection of rules can be conveniently decomposed and eeciently implemented as a hierarchy of fuzzy-behaviors. This paper describes how this can be done using a behavior-based architecture. The approach is motivated by ethological models which suggest hierarchical organizations of behavior. A behavior hierarchy and mechanisms of control decision-making are described. Simulation predicts performance and reveals characteristics of behavior interaction.