Towards an Adaptive Control Strategy Based on Type-2 Fuzzy Logic for Autonomous Mobile Robots

摘要

The main purpose considered in this paper is to maintain a specific location and behavior for a robot that uses type-2 fuzzy logic for controlling its behavior. In this work, we propose a combination of behaviors by following a trajectory without leaving or losing it and avoiding obstacles in an omnidirectional mobile platform. The results of the simulation show the advantages of the proposed approach. We describe the previous knowledge about type-2 fuzzy logic, the virtualization of the mobile robot and its modeling according to real situations. The proposed control system is developed in Matlab/Simulink, the system can model and guide a mobile robot in a successful way in simulated and real environments.