­
­
­
­

Inventi Impact - Robotics

Articles

  • Inventi:erb/27493/18
    HYBRID TYPE-2 FUZZY-SLIDING MODE CONTROLLER FOR NAVIGATION OF MOBILE ROBOT IN AN ENVIRONMENT CONTAINING A DYNAMIC TARGET
    Dorra Ayedi, Maissa Boujelben, Chokri Rekik

    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.

    How to Cite this Article
    Dorra Ayedi, Maïssa Boujelben, and Chokri Rekik, “Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target,” Journal of Robotics, vol. 2018, Article ID 8421848, 10 pages, 2018. https://doi.org/10.1155/2018/8421848, https:// creativecommons.org/licenses/by/4.0/.
    Download Full Text