zSlices based general type-2 FLC for the control of autonomous mobile robots in real world environments

  • Authors:

  • Christian Wagner;Hani Hagras

  • Affiliations:

  • Computational Intelligence Centre, School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK;Computational Intelligence Centre, School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK

  • Venue:
  • FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
  • Year:
  • 2009

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Abstract

fuzzy Logic Control is generally credited with being an adequate methodology for real world contol applications which are subject to large amounts of uncentainties. Recent work has shown that interval type-2 in application which encompass large amounts of uncentainty. However, the application of general type-2 FLCs and investigations of their performance have been very limited. This paper employs the recently introduction concept of zSlices based general type-2 fuzzy sets to implement a zSlices based general type-2 FLC (zFLC). We will present an overview of the implementation and operations of the zFLC for a two-wheel mobile robot navigating in real world outdoor environments. Furthermore, we present a performance analysis of the zFLC which is compared to the type-1 and interval type-2 FLCs.