Behavior based decision control in autonomous vehicles: a fuzzy approach using Khepera

A fuzzy behavior based decision control architecture is introduced. Each behavior is composed by several fuzzy actions-a concept that constitutes the behavior building block, allowing the implementation of a single aspect of the desired competence. A fuzzy action itself is composed by action (fuzzy controller) and activity (fuzzy predicate) producing modules. The behavior performance is also dependent on the (simulated) available energy. The arbitration process is present at the levels of action and behavior. This architecture is tested on the Khepera robot, both in simulation and in reality. The results of the performed experiments are presented, encouraging the architecture use in long range autonomous vehicles