Development of a fuzzy behavioural controller for an autonomous vehicle

Considers the development of a fuzzy behavioural controller for an autonomous vehicle. The motivation for the work and the issues which need to be addressed are described. An overview of deliberative and reactive controllers is presented leading to the specification of a behavioural controller utilising fuzzy motor schemas and a fuzzy behavioural architecture. The paper concludes with a description of the definition and selection of inhibition schemes.