Designing Type-2 Fuzzy Behaviors of Autonomous Robot Using Interval Type-2 Fuzzy Logic System

Long Thanh Ngo; Long The Pham; Phuong Hoang Nguyen; Kaoru Hirota

doi:10.14864/softscis.2006.0.983.0

SCIS & ISIS 2006

Session ID : FR-I2-4

DOI https://doi.org/10.14864/softscis.2006.0.983.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

FR-I2 Adaptive behavior in autonomous robots

Designing Type-2 Fuzzy Behaviors of Autonomous Robot Using Interval Type-2 Fuzzy Logic System

Long Thanh Ngo, Long The Pham, *Phuong Hoang Nguyen, Kaoru Hirota

Author information

Keywords: robot navigation, fuzzy directional relation, type-2 fuzzy logic system

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

The type-2 fuzzy set being an extension of original fuzzy set was introduced by L.Zadeh in 1975 and J.Mendel has developed Type-2 Fuzzy Logic System (FLS). Type-2 FLSs are better than type-1 FLSs on management of uncertainty. This paper deals with an approach in designing fuzzy behaviors of an autonomous robot navigation system using interval type-2 FLS. The navigation system uses sonar sensors to detect obstacles and model the environment. When detecting a obstacle, the fuzzy spatial relationship between robot and the obstacle is computed to be an input of interval type-2 FLS. Authors also proposed the hierarchy of behaviors to fuse command from fuzzy behavior and defuzzify to get crisp angle of deviation. The simulated results on graphic environment and some statistics are shown to demonstrate our approach is implemented correctly.

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