Navigation system of mobile robot in an uncertain environment using type-2 fuzzy modelling

摘要

A navigation system of a mobile robot in an uncertain environment is one of a popular research area. There are both static and dynamic obstacles in an uncertain environment. If a robot finds a static obstacle, it can select a safe path very easily. However, a dynamic obstacle can move very randomly in the global map. Hence, in this paper, we propose a navigation system in an uncertain environment focusing on dynamic obstacles for a mobile robot. The future position of a dynamic obstacle is modeled using a fuzzy vector. The dangerous region of that obstacle is then computed. Then the free road candidates are computed based on those dangerous regions found. Then the best free road is selected. Finally, the interval type-2 fuzzy logic system is utilized to compute the velocity and angular velocity of a mobile robot. The experiment results show that our navigation system worked in an uncertain environment, i.e., an environment with an obstacle with stable velocity and angular velocity, an environment with an obstacle with random velocity, and an environment with several obstacles with both condition.