HIERARCHICAL FUZZY SYSTEM FOR MOBILE ROBOTS CONTROL Andrei Pricop, Corneliu Hu anu, Doru P nescu, Mihai Postolache “Gh.Asachi” Technical University of Ia i Faculty of Automatic Control and Computer Science Department of Automatic Control and Industrial Informatics Horia 7-9, 6600 IASI, ROMANIA Tel.: 40 32 116502, Fax: 40 32 214290 E-mail: apricop@ac.tuiasi.ro Ioan Nilca IPA – SIERA SA Ia i B-dul Prof. D. Mangeron 53 bis, 6600 IASI, ROMANIA Tel/Fax: 40 32 136901, E-mail: inilca@ac.tuiasi.ro Abstract: This paper tackles the problem of the controlled movement for mobile robots which work in a processing department. The main goals of the guided mobile robots are to carry and to manipulate the half-processed parts between some machine-tools with a view to finalizing their technological process. The working area in which the robots have access is assumed to be configured such as there may be created many ways (succesive access segments for robots been guided through, eventually disposed with respect to the x-y plane axis). Keywords: Guided Mobile Robots, Knowledge Base, Fuzzy Control, Hierarchical Control 1. INTRODUCTION The main task of each robot-vehicle is to serve several machine-tools, according to the instructions received from the human operator, or written under the form of a working program. At this level, there have no importance the following aspects: the sequence of operations which are made in front of each machine-tool by the manipulation device endowing the robots, the nature of these operations, and the number of degrees of freedom the robots are provided with. The way of using fuzzy logic in such a complex decision making system could be the most fruitful, due to the possibility of implementing linguistic models in algorithmic procedures [3]. 2. THE USE OF GUIDED MOBILE VEHICLES IN INTEROPERATIONAL CARRY PROCESSES In this application, the proposed program solves the problem of moving the robot-vehicles in the working zone, taking into account the configuration of the machine-tools in this area, and considering some non-deterministic situations that must be over - fulfilled in the decision making process [2].