We are interested in developing a new control architecture to command a mobile robot in a partially known environment. For\nthat purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method. The reactive method\nconsists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot\ntowards a mobile target while avoiding unexpected obstacles. A comparative study is made to show the efficiency of T2-FLS against\nType-1 Fuzzy Logic System (T1-FLS). Additionally, the used deliberative method is the sliding mode, allowing the robot to track\nthe mobile goal trajectory. Simulation results are given finally to test the proposed architecture.
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