The geometric interval type-2 fuzzy logic approach in robotic mobile issue

摘要

Recently type-2 Fuzzy logic systems (FLSs) have demonstrated their competence in treating vagueness in real world dynamic systems. But, in the last few years, new trends and theory in Fuzzy Logic have been appeared, proposing the geometric type-2 Fuzzy logic approach. The main idea of this approach was to model fuzzy logic sets using computational geometry providing by this more accurate results and better performance in treating vagueness. Throughout this paper, we study the effect of the geometric approach in robotic mobile issue. We propose two controllers: a geometric interval type-2 fuzzy logic local avoiding obstacles controller and a geometric interval type-2 fuzzy logic wall following controller. The obtained results are presented and are discussed. The geometric type-2 FLSs provide good results...