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.
Highlights
Controlling a mobile robot in an unknown environment is an attractive aspect in the field of robotic, as it is used in many applications
We present the inputs simulation and some simulations results to test the validity of the control architecture proposed and to compare the performance of Type-1 Fuzzy Logic System (T1-FLS) and T2FLS
We consider a robot which starts from an initial point (X, Y) = (0, 0) and tries to get closer to a dynamic target until reaching the desired final point
Summary
Controlling a mobile robot in an unknown environment is an attractive aspect in the field of robotic, as it is used in many applications. Researchers have developed several methods of controlling non-holonomic robot in a real environment. Those methods can be classified into three groups: reactive approaches, deliberative approaches, and hybrid approach, which is a combination between both of them [1]. The robot receives at each instant information about its local environment and moves autonomously to reach a desired point [2, 3]. This approach is adaptable to the dynamic or unexpected environment, but may have some problems such as nonconvergence or local minima [4]. Neural networks [5], potential field [6], and fuzzy logic [7] are among the methods which illustrate the reactive approach
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