Degree Name

Doctor of Philosophy


Intelligent Robotics Research Laboratory


This thesis presents the results of the investigation, implementation and testing of a tool to support rapid-prototyping development of high performance fuzzy controllers for mobile robotics. Fuzzy inference is a strong candidate for the development of robot control systems because it represents the continuous real-time inputs and outputs necessary for control as convenient textual rules. This thesis shows how the inflexibility of traditional fuzzy inference development methods can be overcome by using a free-form rule-base similar to an expert system. A rapid-prototyping approach can then be taken to controller development.



Unless otherwise indicated, the views expressed in this thesis are those of the author and do not necessarily represent the views of the University of Wollongong.