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Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target
Joint Authors
Rekik, Chokri
Ayedi, Dorra
Boujelben, Maïssa
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-08-01
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We are interested in developing a new control architecture to command a mobile robot in a partially known environment.
For that purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method.
The reactive method consists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot towards a mobile target while avoiding unexpected obstacles.
A comparative study is made to show the efficiency of T2-FLS against Type-1 Fuzzy Logic System (T1-FLS).
Additionally, the used deliberative method is the sliding mode, allowing the robot to track the mobile goal trajectory.
Simulation results are given finally to test the proposed architecture.
American Psychological Association (APA)
Ayedi, Dorra& Boujelben, Maïssa& Rekik, Chokri. 2018. Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target. Journal of Robotics،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1197877
Modern Language Association (MLA)
Ayedi, Dorra…[et al.]. Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target. Journal of Robotics No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1197877
American Medical Association (AMA)
Ayedi, Dorra& Boujelben, Maïssa& Rekik, Chokri. Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1197877
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197877