A fuzzy controller, based on software developed at SRI International, is responsible for the reactive behavior of the robot.
Inside the fuzzy controller, primitive actions are mapped into
behaviors, which are basic control activities. Behaviors are
distinguished in reactive ones, like avoiding obstacles, and (low-level)
goal-oriented ones, like following a corridor. A blending mechanism is
used to integrate reactive and goal-oriented behaviors, so that the robot
can follow a corridor while avoiding obstacles.
In practice, each behavior is implemented by a set of fuzzy rules specifying control actions to be performed in determined situations.
Integrated routines for sonar sensor interpretation, map building, and navigation are also present.
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