Type-2 fuzzy logic control for a mobile robot tracking a moving target

This paper presents a type-2 fuzzy logic control (FLC) approach for mobile robot tracking a dynamic target in cluttered environments. Robot control actions are generated by di⁄erent behaviors : attraction to a dynamic target, obstacle avoidance and fusion block. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target/obstacle. The controller was designed using fuzzy logics theory and then, type-2 fuzzy logic was applied to better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.

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