Type-2 Fuzzy Controller for Path Tracking of a Mobile Robot

This study introduces a Type-2 fuzzy logic control (FLC) approach for precise trajectory tracking of mobile robots, emphasizing its superiority in handling complex paths. Using a kinematic model, the proposed Type-2 FLC relies on expert knowledge to reduce tracking errors by adjusting robot movement based on calculated distance and angular discrepancies from the desired trajectory. The enhanced Type-2 fuzzy controller demonstrates significant accuracy and robustness, especially in challenging tracking scenarios, showcasing notable improvements in error reduction and control smoothness. Simulation results confirm that the proposed approach outperforms other methods, highlighting its potential for applications requiring reliable and precise navigation.