zSlices based type-2 fuzzy motion control for autonomous robotino mobile robot

In this paper, we combine the advantage of more controllable degrees of freedom offers by Omni-directional mobile platform with the ability of the type-2 fuzzy logic to deal with the high levels uncertainties present in the majority of real world applications to control ROMR (Robotino Omni-directional mobile robot) in unknown and unstructured dynamic environments, where the robot facing to static obstacles and unpredicted dynamic events. We develop a real time local path modification and motion planning system using the concept of zSlices based general type-2 fuzzy sets to allow ROMR facing of high levels uncertainties encounters in changing and dynamics unstructured indoor environments. The experiment results demonstrate that our navigation system have the ability to reach ROMR to a desired goal configuration avoiding both static and mobile obstacles in unknown and unstructured dynamic environments.