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
收藏
页码：280 / 286
页数：7
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