Integration of Navigation with a Behavioural Control Scheme

Abstract

This thesis describes a navigational strategy for automatically guided vehicles and a behavioural control implementation using a modified zero order Sugeno fuzzy inference engine. Animals are examined as a model of intelligent behaviour and behavioural control implementations discussed and compared. The features and the requirements of a behavioural control implementation are identified and modifications to Sugeno inferencing are then described which allow these to be met. A successful implementation is then presented. The navigation task is examined, as are various methods of representing space. Special structural features of constrained spaces are identified. A route based navigation system exploiting these features is then developed. The strategy combines the representation of space with the task description into an easily communicated message. This navigational strategy is then successfully integrated with the behavioural control implementation presented earlier. The influence of spatial structure on the complexity of the navigation task is investigated with a view to the categorisation of space. A definition of maze-spaces is developed from this. Conclusions are then drawn on the themes of the work, and suggestions made for further investigations.

Date of Award	2000
Original language	English