Omnidirectional Four Wheel Mobile Robot Control with a Type-2 Fuzzy Logic Behavior-Based Strategy

The main goal considered in this paper is to maintain a specific location and behavior for a robot by using type-2 fuzzy logic for controlling its behavior. We describe the basic concepts about type-2 fuzzy logic, the virtualization of the mobile robot and its modeling according to real situations. Kinematic equations and fuzzy logic are used to control the motor speed of the wheels. The proposed control system is developed in Matlab-Simulink, the system can model and guide a mobile robot, successfully in simulated and real environments. Comparisons of the system performance are made by changing the number of the membership functions in the Type-2 Fuzzy Logic Controller of the robot. The results of the simulation show the advantages of the proposed approach. Also a Mecanum-wheeled robot benefits from great omni-direction maneuverability.

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