Robust Waypoints navigation using Fuzzy Type 2 Controller

In this paper, a robust waypoints navigation algorithm is proposed using the type 2 fuzzy logic controller. The proposed solution is compared to classical P-feedback controller and the type 1 fuzzy controller using a unicycle mobile robot the Pioneer 3AT. Many scenarios are performed, moving to a goal, moving to multiple waypoints with and without parameters uncertainties. The obtained results show clearly the performances of the type 2 fuzzy logic controller, comparing to the P-feedback and fuzzy type 1 controllers especially when significant uncertainties are considered.