A comparative study of fuzzy logic controllers for autonomous robots.

Abstract

Description

This paper presents the results from an experimental comparison of a number of fuzzy logic controllers performing mobile robot navigation. An experiment is described which requires the robot to complete a complex, measurable navigational task. The world's first generalised type-2 fuzzy logic controller is compared to a type-1 and a type-2 interval controller. Visual and statistical analyses show that the generalised type-2 fuzzy controller gives a better performance in consistency and smoothness. The impact of this paper comes primarily from the rigorous use of statistical analysis in mobile robot navigation.

Keywords

RAE 2008, UoA 23 Computer Science and Informatics

Citation

Coupland, S., Gongora, M., John, R.I. and Wills, K. (2006) A comparative study of fuzzy logic controllers for autonomous robots. Proceedings of IPMU 2006 Conference, Paris, July 2006, pp. 1332-1339.

Rights

Research Institute

Institute of Artificial Intelligence (IAI)