Two-stage Interval Type-2 Fuzzy Control of Mobile Robots

• Main Authors: Cheng-Lin Lee, 李政霖
• Other Authors: Yih-Guang Leu
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/07816035109304193983

碩士 === 國立臺灣師範大學 === 應用電子科技學系 === 99 === For autonomous guidance in an unknown environment, a mobile robot generally requires a large number of sensors. The traditional fuzzy control methods for mobile robots with a numerous number of sensors are unfavorable to control immediately because the design of the fuzzy rules becomes very complicated. If a fuzzy system for mobile robots is divided into many stages, the number of the fuzzy rules will reduce largely. Moreover, environment disturbances, sensor noises and uncertain factors exist together. These factors affect the control precision and performance of mobile robots. Therefore, this thesis uses a method of two-stage interval type-2 fuzzy logic control in order to more smoothly implement on mobile robots because the influence of the uncertain factors is diminished by type-2 fuzzy logic system. To verify the effectiveness and applicability of the proposed method, we design and implement a mobile robot, and the main structure of the mobile robot includes an omnidirectional mobile system, one laser sensor, one electronic compass sensor, one vision sensor, and so forth.