Pilot Level of a Hierarchical Controller for an Unmanned Mobile Robot

Can Işik, Alexander M. Meystel

Research output: Contribution to journalArticlepeer-review

30 Scopus citations


The controller for an Intelligent Mobile Autonomous System (IMAS), equipped with vision and low-level sensors to cope with unknown obstacles, is modeled as a hierarchy of decision making for planning and control. One of the levels (Pilot) deals with distorted “windshield” view of the world and provides the actuator controller with real-time decisions. This level of IMAS controller is treated as a linguistical controller with fuzzy variables that assume values from possible intervals. The decision-making processes at this level of control are presented as a production system with a fuzzy database. The rules in the production system are derived from an analytical system model for minimum time control. The choice of optimal motion execution commands is performed using fuzzy set operators. Also included in the paper is a temporal decision-making mechanism (Reporter) which recognizes the persisting conflicts between successive levels of the hierarchy by observing the motion trajectory.

Original languageEnglish (US)
Pages (from-to)241-255
Number of pages15
JournalIEEE Journal on Robotics and Automation
Issue number3
StatePublished - Jun 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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