Obstacles Avoidance for Mobile Robot Using Type-2 Fuzzy Logic Controller
نویسندگان
چکیده
Intelligent mobile robots need to deal with different kinds of uncertainties in order perform their tasks, such as tracking predefined paths and avoiding static dynamic obstacles until reaching destination. In this research, a Robotino® from Festo Company was used reach target scenarios, autonomously, environment. A Type-2 fuzzy logic controller guide help its destination safely. The collects data the rules were built human experience. They controlled movement, guiding it toward goal by controlling linear angular velocities, preventing colliding at same time, well. Takagi–Sugeno–Kang (TSK) algorithm implemented. Real-time simulation experimental results showed capability effectiveness proposed controller, especially dealing uncertainty problems.
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ژورنال
عنوان ژورنال: Robotics
سال: 2022
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics11060130