12.5 Conclusions
In this chapter, we presented the interval type-2 FLC and its novel application to mobile robots real time control in changing and dynamic unstructured indoor and outdoor environments. To the author’s knowledge, this is the first work applying type-2 fuzzy systems to real time robot control and to real time control in general.
We have used the type-2 FLC to implement different mobile robot behaviours in different platforms in indoor and outdoor challenging unstructured environments. We have shown how the type-2 FLCs can deal with the uncertainties facing mobile robots in unstructured environments to produce very good real time responses that outperformed the type-1 FLCs whilst using smaller rule bases than the type-1 FLCs. Based on these results, we are exploring the application of type-2 FLCs to other control application such as the control of huge marine diesel engines and intelligent buildings. We are also exploring automatic learning techniques to learn the various parameters of the type-2 FLC online.
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Hagras, H. (2006). Fuzzy Logic Based Control Mechanisms for Handling the Uncertainties Facing Mobile Robots in Changing Unstructured Environments. In: Bai, Y., Zhuang, H., Wang, D. (eds) Advanced Fuzzy Logic Technologies in Industrial Applications. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-84628-469-4_12
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