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Mobile robot control using type-2 fuzzy logic system

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2 Author(s)
Phokharatkul, P. ; Dept. of Comput. Eng., Mahidol Univ., Bangkok, Thailand ; Phaiboon, S.

This paper presents a type-2 fuzzy logic system that can be applied to a mobile robot which is a project associated with using infrared sensors as distance sensors, DC motor control system, knowledge of multiplex, RS-232 interface line, knowledge of microcontroller and knowledge of intelligent system. Infrared sensors are used to measure distance between a robot and obstacle. The type-2 fuzzy logic controller processes the data output to control the direction of the mobile robot movement. The behavior-based control for mobile robot was designed, which consists of two tasks, obstacle avoidance and corridor following. The results obtained demonstrate the efficiency of type-2 fuzzy logic control system and the ability to solve the problems. The experimental results show better performances than those using on-off and type-1 fuzzy logic controls.

Published in:

Robotics, Automation and Mechatronics, 2004 IEEE Conference on  (Volume:1 )

Date of Conference:

1-3 Dec. 2004

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