A knowledge-based controller for an autonomous mobile robot is realized as a hierarchy of production systems. The hierarchical structure is achieved following the information hierarchy of the system. A high level path planning is possible by utilizing the incomplete world description. More detailed linguistic information, obtained from sensors that cover the close surroundings, enables the lower level planning and control of the robot motion. A linguistic model is developed by describing the relationships among the entities of the world description. This model is then transformed into the form of rules of motion control. The inexactness of the world description is modeled using the tools of fuzzy set theory, leading to a production system with a fuzzy database and a redundant rule base.

Date Published: 26 March 1986
PDF: 7 pages
Proc. SPIE 0635, Applications of Artificial Intelligence III, (26 March 1986); doi: 10.1117/12.964172

Published in SPIE Proceedings Vol. 0635:
Applications of Artificial Intelligence III
John F. Gilmore, Editor(s)