A Type-2 Fuzzy Controller for Tracking Mobile Objects in the Context of Robotic Soccer Games

Author

Figueroa, John ; Posada, Jorge ; Soriano, Jairo ; Melgarejo, Miguel ; Rojas, Sergio

Author_Institution

Lab. for Autom., Microelectron. & Computational Intelligence, Univ. Distrital Francisco Jose de Caldas, Bogota

fYear

2005

fDate

25-25 May 2005

Firstpage

359

Lastpage

364

Abstract

This paper presents a type-2 fuzzy logic controller for a robotic agent intended to track a mobile object in the context of robot soccer games. The controller has two inputs and two outputs that are logically connected by four rules. Image processing is used to estimate the angle between the agent and the target, which introduces uncertainty in the control loop. Other sources of uncertainty related to defects in the control loop have been identified. In this sense, the paper explores how the type-2 controller overcomes those sources without incrementing the computational cost of the application

Keywords

fuzzy control; fuzzy reasoning; fuzzy set theory; mobile robots; multi-robot systems; object detection; robot vision; target tracking; uncertain systems; control loop; fuzzy control; fuzzy reasoning; image processing; knowledge based systems; mobile object tracking; mobile robots; object detection; robot vision; robotic agent; robotic soccer games; type-2 fuzzy logic controller; uncertain systems; uncertainty; Automatic control; Computational efficiency; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Image processing; Mobile robots; Robotics and automation; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2005. FUZZ '05. The 14th IEEE International Conference on

Conference_Location

Reno, NV

Print_ISBN

0-7803-9159-4

Type

conf

DOI

10.1109/FUZZY.2005.1452420

Filename

1452420