Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target. (1st August 2018)

• Record Type: Journal Article
• Authors: Ayedi, Dorra; Boujelben, Maïssa; Rekik, Chokri
• Other Names: Li Yangmin Academic Editor.
• Is Part Of: Journal of robotics. Volume 2018(2018)
• Publication Date: 2018-08-01
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2018/8421848
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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.