Interval Type-2 Fuzzy System for a safe autonomous robot navigation in uncertain environment

Author

Silva, Wanderson A. S. ; Rabelo, Ricardo A. L. ; Santana, A.M.

Author_Institution

Dept. de Cienc. da Comput. (DC), Univ. Fed. do Piaui (UFPI), Teresina, Brazil

fYear

2014

fDate

15-19 Sept. 2014

Firstpage

1

Lastpage

8

Abstract

In mobile robots navigation, there are two main topics: reaching a goal and avoiding obstacles on the path. However, a relevant problem in autonomous navigation is dealing with a lot of uncertainty in the environment. The fuzzy logic is a popular method used by most researchers and it can deal with uncertainty, proximity or uncompleted information. In this work, we present an approach with a safe autonomous navigation using the interval Type-2 Fuzzy System in a two wheeled wall-following robot on static and unknown environments. The results were reached with dynamic simulations on three distinct scenes. These simulations have been done to analyze the error and time. The results reached a satisfactory performance navigation of robot using type-2 fuzzy system.

Keywords

collision avoidance; fuzzy control; mobile robots; dynamic simulations; fuzzy logic; interval type-2 fuzzy system; mobile robots navigation; obstacles avoidance; safe autonomous robot navigation; static environments; two wheeled wall-following robot; uncertain environment; uncertainty; unknown environments; Fuzzy systems; Laser radar; Mobile robots; Navigation; Robot sensing systems; Uncertainty; Type-2 Fuzzy Logic Systems; autonomous navigation; mobile robots; wall-following;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing Conference (CLEI), 2014 XL Latin American

Conference_Location

Montevideo

Type

conf

DOI

10.1109/CLEI.2014.6965170

Filename

6965170