Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target

被引：10

作者：

Ayedi, Dorra ^{[1
]}

Boujelben, Maissa ^{[2
]}

Rekik, Chokri ^{[2
]}

机构：

[1] Univ Sousse, Sousse Engn Sch, Control & Energy Management Lab CEM Lab, BP 264, Sousse Erriadh 4023, Tunisia

[2] Univ Sfax, Sfax Engn Sch, Control & Energy Management Lab CEM Lab, BP W, Sfax 3038, Tunisia

来源：

JOURNAL OF ROBOTICS | 2018年 / 2018卷

关键词：

D O I：

10.1155/2018/8421848

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We are interested in developing a new control architecture to command a mobile robot in a partially known environment. For that purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method. The reactive method consists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot towards a mobile target while avoiding unexpected obstacles. A comparative study is made to show the efficiency of T2-FLS against Type-1 Fuzzy Logic System (T1-FLS). Additionally, the used deliberative method is the sliding mode, allowing the robot to track the mobile goal trajectory. Simulation results are given finally to test the proposed architecture.

引用

页数：10

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