Type-1 and Type-2 Fuzzy Logic Controllers for Autonomous Robotic Motion

摘要

This paper proposes type-1 and type-2 Takagi-Sugeno (TS) fuzzy logic controllers for autonomous mobile robot motion. Two basic behaviors have been studied and simulated: goal-seeking and obstacle-avoidance. Fuzzy logic controllers (FLC) are the robust control systems for the navigation task of mobile robot because it is encountered by imprecision and uncertainties. This paper deals with the design of autonomous robot behaviors using type-1 and type-2 fuzzy logic systems. The proposed systems are used to control a wheeled mobile robot. To show the effectiveness of the proposed fuzzy controllers, simulation results will be discussed and compared.