TYPE-2 FUZZY BEHAVIOR BASED NAVIGATION METHOD FOR MOBILE ROBOT
This paper proposes an application of interval type-2 fuzzy logic controllers (IT2FLC) for the design of autonomous mobile robot behaviors. Fuzzy systems based type-2 fuzzy membership functions with their imprecise boundaries can overcome uncertainties in real applications by using membership values instead of a crisp number in Type-1 fuzzy membership function. The proposed fuzzy controllers are used to infer actions for robot movement based behaviors: goal seeking, obstacle avoidance and wall-following. The obtained simulation results show the effectiveness of these behaviors for autonomous robot navigation. The results are discussed and compared.
This article is written in Adobe PDF format ( .pdf file ).To view this article you need to download the file. Please rightclick on the link below and then select "Save
target as" to download the file to your harddrive.