zSlices based general type-2 FLC for the control of autonomous mobile robots in real world environments

Fuzzy logic control is generally credited with being an adequate methodology for real world control applications which are subject to large amounts of uncertainties. Recent work has shown that interval type-2 fuzzy logic controllers (FLCs) can outperform type-1 FLCs in applications which encompass large amounts of uncertainty. However, the application of general type-2 FLCs and investigations of their performance have been very limited. This paper employs the recently introduced concept of zSlices based general type-2 fuzzy sets to implement a zSlices based general type-2 FLC (zFLC). We will present an overview of the implementation and operations of the zFLC for a two-wheel mobile robot navigating in real world outdoor environments. Furthermore, we present a performance analysis of the zFLC which is compared to the type-1 and interval type-2 FLCs.