Interpolative Fuzzy Reasoning and Fuzzy Automaton in Behaviour-based Control

The main idea of behaviour-based control structures is to handle partially known complex situations by a set of known behaviours (strategies). By discrete switching to the behaviour seems to be the most appropriate one, or by fusing the behaviours appeared to be the most appropriate ones. These structures has two main tasks to solve. The first is the decision about the level of suitability of the known behaviours in handling the actual situation. The second is the way of fusing these behaviours to form the actual behaviour. In this paper, for these tasks, the fuzzy automaton based system state approximation and the interpolative fuzzy reasoning based fusion is suggested. For demonstrating the flexiblity of the suggested platform a path tracking and collision avoidance navigation control of a simulated automated guided vehicle (AGV) is also introduced briefly in this paper.