Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target

摘要

We are interested in developing a new control architecture to command a mobile robot in a partially known environment. For that purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method. The reactive method consists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot towards a mobile target while avoiding unexpected obstacles. A comparative study is made to show the efficiency of T2-FLS against Type-1 Fuzzy Logic System (T1-FLS). Additionally, the used deliberative method is the sliding mode, allowing the robot to track the mobile goal trajectory. Simulation results are given finally to test the proposed architecture.