Interval type-2 TSK fuzzy approach for autonomous mobile robot control in presence of uncertainties

The use of the type-2 fuzzy logic system (FLS) allows to a mobile robot to handle various uncertainties which can face it in an unknown environment. Actually, the type-2 FLS has become a popular approach applied for different control applications. In this paper, we will show the benefit of using the type-2 FLS on mobile robot navigation, comparing to the use of type-1 FLS. The procedure of this work is then described as follows: we apply the type-1 FLS on the mobile robot to reach a specific target and to avoid obstacles, adopting the hierarchical controller. Then we test the type-2 FLS to do the same tasks. The comparison between simulation results will prove the efficiency of this new type FLS, especially in the presence of perturbations.