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A Hierarchical Type-2 Fuzzy Logic Control Architecture for Autonomous Mobile Robots
Abstract
Autonomous mobile robots navigating in changing and dynamic unstructured environments like the outdoor environments need to cope with large amounts of uncertainties that are inherent of natural environments. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully handle such uncertainties. A type-2 FLC using type-2 fuzzy sets can handle such uncertainties to produce a better performance. In this paper, we present a novel reactive control architecture for autonomous mobile robots that is based on type-2 FLC to implement the basic navigation behaviors and the coordination between these behaviors to produce a type-2 hierarchical FLC. In our experiments, we implemented this type-2 architecture in different types of mobile robots navigating in indoor and outdoor unstructured and challenging environments. The type-2-based control system dealt with the uncertainties facing mobile robots in unstructured environments and resulted in a very good performance that outperformed the type-1-based control system while achieving a significant rule reduction compared to the type-1 system.
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Citations
Cited by
Interval Type-2 Fuzzy Logic Systems Made Simple
Mendel, J. M., John, R. I., & Liu, F. (2006) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2006.879986 · Cited by 2,112
Toward Human-Understandable, Explainable AI
Hagras, H. (2018) · Computer · doi:10.1109/mc.2018.3620965 · Cited by 350
Self-citationOn the Fundamental Differences Between Interval Type-2 and Type-1 Fuzzy Logic Controllers
Wu, D. (2012) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2012.2186818 · Cited by 339
Geometric Type-1 and Type-2 Fuzzy Logic Systems
Coupland, S., & John, R. (2007) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2006.889764 · Cited by 316
The 2017 IEEE International Conference on Fuzzy Systems
(2016) · IEEE Computational Intelligence Magazine · doi:10.1109/mci.2016.2545826 · Cited by 308
Metadata
- Authors
- Hagras, H. A.
- Venue
- IEEE Transactions on Fuzzy Systems
- Published
- 2004-08
- Volume
- 12
- Issue
- 4
- Pages
- 524-539
- ISSN
- 1063-6706 (ISSN-L)
- OpenAlex
- W2125631815
- Cited by
- 1,016
- References
- 0
- FWCI
- 27.79
- Type
- journal article
- Language
- en
- Open access
- closed
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