Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target
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 ba...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/8421848 |
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| _version_ | 1832556226869723136 |
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| author | Dorra Ayedi Maïssa Boujelben Chokri Rekik |
| author_facet | Dorra Ayedi Maïssa Boujelben Chokri Rekik |
| author_sort | Dorra Ayedi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-e23d6cf86adf4fa493b6ea8a31618409 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-e23d6cf86adf4fa493b6ea8a316184092025-02-03T05:46:09ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/84218488421848Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic TargetDorra Ayedi0Maïssa Boujelben1Chokri Rekik2Control and Energy Management Lab (CEM Lab), University of Sousse, Sousse Engineering School, BP 264 Sousse Erriadh 4023, TunisiaControl and Energy Management Lab (CEM Lab), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, TunisiaControl and Energy Management Lab (CEM Lab), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, TunisiaWe 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.http://dx.doi.org/10.1155/2018/8421848 |
| spellingShingle | Dorra Ayedi Maïssa Boujelben Chokri Rekik Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target Journal of Robotics |
| title | Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target |
| title_full | Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target |
| title_fullStr | Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target |
| title_full_unstemmed | Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target |
| title_short | Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target |
| title_sort | hybrid type 2 fuzzy sliding mode controller for navigation of mobile robot in an environment containing a dynamic target |
| url | http://dx.doi.org/10.1155/2018/8421848 |
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