Type-1 and Type-2 Fuzzy Logic Controllers for Autonomous Robotic Motion

被引：4
作者：
Cherroun, L. [1 ]
Nadour, M. [1 ]
Kouzou, A. [1 ]
机构：
[1] Univ Djelfa, Lab Appl Automat & Ind Diagnost LAADI, Djelfa 17000, Algeria
来源：
2019 3RD INTERNATIONAL CONFERENCE ON APPLIED AUTOMATION AND INDUSTRIAL DIAGNOSTICS (ICAAID 2019) | 2019年
关键词：
type-1 fuzzy controller; type-2 fuzzy controller; goal seeking; obstacle avoidance; MOBILE ROBOT; SYSTEMS;
D O I：
10.1109/icaaid.2019.8934997
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes type-1 and type-2 Takagi-Sugeno (TS) fuzzy logic controllers for autonomous mobile robot motion. Two basic behaviors have been studied and simulated: goal-seeking and obstacle-avoidance. Fuzzy logic controllers (FLC) are the robust control systems for the navigation task of mobile robot because it is encountered by imprecision and uncertainties. This paper deals with the design of autonomous robot behaviors using type-1 and type-2 fuzzy logic systems. The proposed systems are used to control a wheeled mobile robot. To show the effectiveness of the proposed fuzzy controllers, simulation results will be discussed and compared.
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页数：5
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