Navigation of Mobile Robot Using Type-2 Fuzzy System

One of the important problems of robotics is the navigation of mobile robots in uncertain environments that are densely cluttered with obstacles. The control of robots using the traditional control algorithms is not satisfactory as far as the navigational accuracy and the distance and time to reach the goal are concerned, when the robot is in a complicated surrounding. One of alternative and efficient ways of constructing a control system that explicitly deal with uncertainty is the use of fuzzy systems approach. The paper is devoted to navigation of mobile robot using type-2 fuzzy system. The design principle of navigation algorithm using type-2 fuzzy system is presented. The fuzzy knowledge base that describes the relation between the inputcurrent angle and distance signals and output signals that determine the robot turn angle is developed. The control rules of navigation and inference engine operations have been described. The comparative simulation results of robot navigation system demonstrate the advantage of the fuzzy navigation algorithm.