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A fuzzy behavior-based architecture for decision control in autonomous vehicles

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2 Author(s)
A. Abreu ; ESTS-IPS, Setubal, Portugal ; L. Correia

A three layer behavior-based architecture using fuzzy logic is presented. A distinguishing feature is the similarity among its layers, facilitating architecture understanding and improving robot control designability. Other distinctive features are the simplicity in the way behaviors are modulated; how robustness is achieved, and how behaviors are fused. As a consequence, the whole architecture presents some interesting properties from a design perspective. Some experiments over a Khepera mobile robot are presented, attesting the interest in using such architecture in long runs

Published in:

Intelligent Control, 2001. (ISIC '01). Proceedings of the 2001 IEEE International Symposium on

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