Interval type-2 TSK fuzzy approach for autonomous mobile robot control in presence of uncertainties

被引：0

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：

2017 14TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD) | 2017年

关键词：

Autonomous navigation; Mobile robot; Hierarchical fuzzy controller; Interval type-2 fuzzy system; SYSTEMS;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The use of the type-2 fuzzy logic system (FLS) allows to a mobile robot to handle various uncertainties which can face it in an unknown environment. Actually, the type-2 FLS has become a popular approach applied for different control applications. In this paper, we will show the benefit of using the type-2 FLS on mobile robot navigation, comparing to the use of type-1 FLS. The procedure of this work is then described as follows: we apply the type-1 FLS on the mobile robot to reach a specific target and to avoid obstacles, adopting the hierarchical controller. Then we test the type-2 FLS to do the same tasks. The comparison between simulation results will prove the efficiency of this new type FLS, especially in the presence of perturbations.

引用

页码：280 / 286

页数：7

共 23 条

[1]

Amador-Angulo L, 2016, IEEE INT FUZZY SYST, P537, DOI 10.1109/FUZZ-IEEE.2016.7737733

[2] Fuzzy Sets in Dynamic Adaptation of Parameters of a Bee Colony Optimization for Controlling the Trajectory of an Autonomous Mobile Robot [J].