Safe autonomous navigation with a wall-following robot using interval Type-2 Fuzzy System in uncertain environments

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, distance and time. The results reached a satisfactory performance navigation of robot using type-2 fuzzy system.