Hierarchical interval type-2 fuzzy path planning based on genetic optimization

摘要

This paper focuses on the path planning of mobile robot. Fuzzy logic is employed to deal with the uncertainty in the process of path planning. The hierarchical interval type-2 fuzzy method is obtained by combining the hierarchical fuzzy and interval type-2 fuzzy method, which is used in the path planning of mobile robot. Hierarchical fuzzy structure can simplify complex system and get fuzzy rules more easily. For multi input system, it can also solve the problem of rule explosion. Compared with type-1 fuzzy, interval type-2 fuzzy can better deal with the uncertainty in the process of path planning. Finally, in order to get a better path, genetic algorithm is used to optimize the membership function in the fuzzy path planner. Through the simulation experiment, the proposed hierarchical type-2 fuzzy planning method can effectively solve the path planning problem. Compared with the type-1 fuzzy method, the interval type-2 fuzzy method and the hierarchical type-1 fuzzy method, the proposed method obtains better results.