Comparative Study between Fuzzy Logic and Interval Type-2 Fuzzy Logic Controllers for the Trajectory Planning of a Mobile Robot
Published online first on March 24, 2021.
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.
P. Gil, Y. Mezouar, M. Vincze, and J. A. Corrales, "Robotic Perception of the Sight and Touch to Interact with Environments," Journal of Sensors, vol. 2016, Dec. 2016, Art. no. e1751205. https://doi.org/10.1155/2016/1751205
U. Libal and J. Płaskonka, "Noise sensitivity of selected kinematic path following controllers for a unicycle," Bulletin of the Polish Academy of Sciences, Technical Sciences, vol. 62, no. 1, pp. 3-13, Mar. 2014. https://doi.org/10.2478/bpasts-2014-0001
G. Abdelhakim and H. Abdelouahab, "A New Approach for Controlling a Trajectory Tracking Using Intelligent Methods," Journal of Electrical Engineering & Technology, vol. 14, no. 3, pp. 1347-1356, May 2019. https://doi.org/10.1007/s42835-019-00112-1
B. Hua, E. Rama, G. Capi, and M. Jindai, "A human-like robot intelligent navigation in narrow indoor environments," International Journal of Information and Electronics Engineering, vol. 6, no. 5, pp. 308-312, Sep. 2016.
K. Chen, F. Yang, and X. Chen, "Planning with task-oriented knowledge acquisition for a service robot," in Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence, New York, NY, USA, Jul. 2016, pp. 812-818.
Y. Gigras and K. Gupta, "Artificial Intelligence in Robot Path Planning," International Journal of Soft Computing and Engineering, vol. 2, no. 2, pp. 471-474, May 2012.
B. Damas and J. Santos-Victor, "Avoiding moving obstacles: the forbidden velocity map," in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, Oct. 2009, pp. 4393-4398. https://doi.org/10.1109/IROS.2009.5354210
W. Yu, J. Peng, X. Zhang, and K.-C. Lin, "A Cooperative Path Planning Algorithm for a Multiple Mobile Robot System in a Dynamic Environment," International Journal of Advanced Robotic Systems, vol. 11, no. 8, Aug. 2014, Art. no. 136. https://doi.org/10.5772/58832
Xiaoyu Yang, M. Moallem, and R. V. Patel, "A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 35, no. 6, pp. 1214-1224, Dec. 2005. https://doi.org/10.1109/TSMCB.2005.850177
D. J. Huh, J. H. Park, U. Y. Huh, and H. I. Kim, "Path planning and navigation for autonomous mobile robot," in IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02, Seville, Spain, Nov. 2002, vol. 2, pp. 1538-1542.
J. Courbon, Y. Mezouar, L. Eck, and P. Martinet, "A generic framework for topological navigation of urban vehicle," presented at the ICRA09 - Workshop on Safe navigation in open and dynamic environments Application to autonomous vehicles, May 2009.
T. Belker and D. Schulz, "Local action planning for mobile robot collision avoidance," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, Sep. 2002, vol. 1, pp. 601-606.
M. Defoort, J. Palos, A. Kokosy, T. Floquet, W. Perruquetti, and D. Boulinguez, "Experimental Motion Planning and Control for an Autonomous Nonholonomic Mobile Robot," in Proceedings 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, Apr. 2007, pp. 2221-2226. https://doi.org/10.1109/ROBOT.2007.363650
E.-H. Guechi, J. Lauber, and M. Dambrine, "Suivi de trajectoire d'un robot mobile non holonome en présence de retards sur les mesures," in 2010 IEEE CIFA, Nancy, France, 2010.
N. N. Karnik, J. M. Mendel, and Qilian Liang, "Type-2 fuzzy logic systems," IEEE Transactions on Fuzzy Systems, vol. 7, no. 6, pp. 643-658, Dec. 1999. https://doi.org/10.1109/91.811231
O. Kahouli, B. Ashammari, K. Sebaa, M. Djebali, and H. H. Abdallah, "Type-2 Fuzzy Logic Controller Based PSS for Large Scale Power Systems Stability," Engineering, Technology & Applied Science Research, vol. 8, no. 5, pp. 3380-3386, Oct. 2018. https://doi.org/10.48084/etasr.2234
O. Castillo and P. Melin, Type-2 Fuzzy Logic: Theory and Applications. Berlin Heidelberg, Germany: Springer-Verlag, 2008. https://doi.org/10.1007/978-3-540-76284-3
B. Bouchon-Meunier and C. Marsala, Logique floue. Principes, aide à la décision. Paris, France: Hermes Science Publications, 2002.
Qilian Liang and J. M. Mendel, "Interval type-2 fuzzy logic systems: theory and design," IEEE Transactions on Fuzzy Systems, vol. 8, no. 5, pp. 535-550, Oct. 2000. https://doi.org/10.1109/91.873577
N. N. Karnik and J. M. Mendel, "Type-2 fuzzy logic systems: type-reduction," in SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, USA, Oct. 1998, vol. 2, pp. 2046-2051.
H. A. Hagras, "A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots," IEEE Transactions on Fuzzy Systems, vol. 12, no. 4, pp. 524-539, Aug. 2004. https://doi.org/10.1109/TFUZZ.2004.832538
MetricsAbstract Views: 64
PDF Downloads: 61
Copyright (c) 2021 Authors
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.