Type-2 Fuzzy Controller (T2FC) Based Motion Planning of Differential-Drive Pioneer P3-DX Wheeled Robot in V-REP Software Platform

Abstract

AbstractIn the present era, the wheeled robot performs various tasks like patrolling, disaster relief, and planetary exploration. For these tasks, a robust navigation algorithm is needed, which can autonomously drive the wheeled robot in any situations. Therefore, in this article, the authors try to design a Type-2 Fuzzy Controller (T2FC), which controls the steering angle based motion, direction, and orientation of the Differential-Drive Pioneer P3-DX Wheeled Robot (DDPWR) by using sensory information without any human intervention in different obstacle conditions. The multiple inputs (obstacles distances received from attached sensors) and single output (steering angle) T2FC have been taken for this purpose. Virtual Robot Experimentation Platform (V-REP) software based 3-dimensional simulation environment, and Graphical User Interface (GUI) based 2-dimensional simulation environment has used to show the motion control results of DDPWR by applying T2FC technique. The remote API functions of V-REP software have been used to make a connection between the MATLAB GUI and V-REP simulation. The developed MATLAB program handles the behavior of DDPWR in the V-REP software engineering platform. In addition, the comparison study has done between proposed T2FC technique with the previously developed Type-1 Fuzzy Controller to show the authenticity and robustness of the developed T2FC.KeywordsType-2 Fuzzy ControllerSteering angleDifferential-Drive Pioneer P3-DX Wheeled RobotSensorVirtual Robot Experimentation Platform