Comparative Study between Fuzzy Logic and Interval Type-2 Fuzzy Logic Controllers for the Trajectory Planning of a Mobile Robot
Received: 11 January 2021 | Revised: 15 March 2021 | Accepted: 17 March 2021 | Online: 24 March 2021
Corresponding author: B. Kasmi
Abstract
In this study, Fuzzy Logic (FL) and Interval Type-2 FL (IT-2FL) controllers were applied to a mobile robot in order to determine which method facilitates navigation and enables the robot to overcome real-world uncertainties and track an optimal trajectory in a very short time. The robot under consideration is a non-holonomic unicycle mobile robot, represented by a kinematic model, evolving in two different environments. The first environment is barrier-free, and moving the robot from an initial to a target position requires the introduction of a single action module. Subsequently, the same problem was approached in an environment closer to reality, with objects hindering the robot's movement. This case requires another controller, called obstacle avoidance. This system allows the robot to reach autonomously a well-defined target by avoiding collision with obstacles. The robustness of the structures of the defined controllers is tested in Matlab simulations of the studied controllers. The results show that the IT-2FL controller performs better than the FL controller.
Keywords:
Interval Type-2 Fuzzy Logic (IT2-FL), Fuzzy Logic (FL), mobile robot, non-holonomic, obstacle avoidance, trajectory planningDownloads
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