Behavioural control using modified Sugeno inferencing

Describes the design and construction of a behavioural controller for an autonomous vehicle using fuzzy logic. Discussed are the desirable properties of a behavioural controller, and how they may be implemented using fuzzy logic. Issues regarding the suitability of fuzzy logic are considered and used to indicate the motivation for modification of the fuzzy system. The nature of the fuzzy system used, and the modifications that have been made to the standard zero order Sugeno inference engine are illustrated.