Title :
zSlices based type-2 fuzzy motion control for autonomous robotino mobile robot
Author :
Mbede, Jean Bosco ; Melingui, Achille ; Zobo, Bernard Essimbi ; Merzouki, Rochdi ; Bouamama, Belkacem Ould
Author_Institution :
Electr. Eng. & Telecommun. Dept., Univ. of Yaounde I, Yaoundé, Cameroon
Abstract :
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.
Keywords :
collision avoidance; fuzzy control; fuzzy logic; mobile robots; Robotino omni-directional mobile robot; autonomous robotino mobile robot; control ROMR; dynamics unstructured indoor environments; high levels uncertainties; mobile obstacles; motion planning system; navigation system; real time local path modification; real world applications; static obstacles; type-2 fuzzy logic; unknown dynamic environments; unpredicted dynamic events; unstructured dynamic environments; zSlices based type-2 fuzzy motion control; Fuzzy logic; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Uncertainty; Omni-directional mobile robot; dynamic environments; obstacle avoidance; type-2 fuzzy logic; zSlices based general type-2 fuzzy sets;
Conference_Titel :
Mechatronics and Embedded Systems and Applications (MESA), 2012 IEEE/ASME International Conference on
Conference_Location :
Suzhou
Print_ISBN :
978-1-4673-2347-5
DOI :
10.1109/MESA.2012.6275538