Motion Planning in Dynamic and Unknown Environment Using an Interval Type-2 TSK Fuzzy Logic Controller

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.