Design of a Control Strategy Based on Type-2 Fuzzy Logic for Omnidirectional Mobile Robots

摘要

The main goal of this article is to outline the design and implementation of tracking and position control with a new approach to intelligent navigation in omnidirectional mobile robots (OMR) using type-2 fuzzy systems to control their response actions. The emergence of fuzzy logic has given the field of robotics a solution to problems that required expanding the capabilities of autonomous mobile robots. A key point in the development is the use of the experience of a human expert in the formation of a fuzzy knowledge base that allows us to describe the relationship between the inductive voltage, the distance of objects in an unknown dynamic environment, and their linear and angular output velocities. To achieve this goal, we have developed a type-2 fuzzy controller and compared it against its type-1 counterpart. The obtained results confirm that the omnidirectional robot can navigate in an unstructured environment with unknown obstacles with better efficiency using the proposed approach. To test the system, the omnidirectional mobile platform is faced with the tasks of following a trajectory and obstacle avoidance. In addition to the study of obstacle avoidance, the odometry of mobile robots is analyzed.