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CHERROUN Lakhmissi

Abstract

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.

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