Motion planning in dynamic and unknown environment using an Interval Type-2 TSK fuzzy logic controller

被引：0
|
作者：
Baklouti, Nesrine [1 ]
Alimi, Adel M. [1 ]
机构：
[1] Univ Sfax, Natl Sch Engn, Res Grp Intelligent Machines, Sfax 3038, Tunisia
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Motion planning of mobile robots in unknown and dynamic environments is faced with a large amount of uncertainties. Such those uncertainties we find; the measurement noise, the membership function's translations, data uncertainties ... In fact, the known type of fuzzy logic (FL), Type-1, gave some solutions. But, in the last few years, new trends and theory in FL have been appeared, proposing by thus the Type-2 Fuzzy Logic Systems (Type-2 FLSs) which can handle and minimize the effects of the cited uncertainties with a better performance. This paper deals with the design of an Interval Type-2 fuzzy logic controller for the navigation of mobile robots in unknown and dynamic environments. The obtained results are presented and are compared with the navigation using the Type-1 Fuzzy Logic system. The Type-2 FLSs provide very good results and outperform the correspondent Type-1 FLS.
引用
收藏
页码：1853 / 1858
页数：6
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