Interpolation-based Fuzzy Reasoning in Behaviour-based Control Structures

Abstract

Some difficulties emerging during the construction of fuzzy behaviour-based control structures are inherited from the type of the applied fuzzy reasoning. Classical fuzzy reasoning methods need a complete fuzzy rule base. In case of fetching fuzzy rules directly from expert knowledge e.g. for the behaviour coordination module, the way of building a complete rule base is not always straightforward. One simple solution for overcoming the necessity of the complete rule base is the application of interpolation-based fuzzy reasoning methods, since interpolation-based fuzzy reasoning methods can serve usable (interpolated) conclusion even if none of the existing rules is hit by the observation. These methods can save the expert from dealing with derivable rules and help to concentrate on cardinal actions only. For demonstrating the applicability of the interpolation-based fuzzy reasoning methods in behaviourbased control structures a simple interpolation-based fuzzy reasoning method and its adaptation for behaviour-based control will be discussed briefly in this paper.