Abstract
The main purpose considered in this chapter is to maintain a specific location and behavior for a robot that uses type-2 fuzzy logic for controlling its behavior. In this chapter, we propose a combination of behaviors by following a trajectory without leaving or losing it and avoiding obstacles in an omnidirectional mobile platform. The results of the simulation show the advantages of the proposed approach. We describe the previous knowledge concerning type-2 fuzzy logic, the virtualization of the mobile robot and its modeling according to real situations. The proposed control system is developed in Matlab-Simulink, the system can model and guide a mobile robot, successfully in simulated and real environments. We also discuss how the proposed techniques could be extended to humanoid robots.
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Cuevas, F., Castillo, O., Cortes, P. (2021). Control Strategies Based on Interval Type-2 Fuzzy Logic for Autonomous Mobile and Humanoid Robots. In: Kahraman, C., Bolturk, E. (eds) Toward Humanoid Robots: The Role of Fuzzy Sets. Studies in Systems, Decision and Control, vol 344. Springer, Cham. https://doi.org/10.1007/978-3-030-67163-1_8
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