A comparative study of fuzzy logic controllers for autonomous robots.

Date
2006-07-01
Authors
Coupland, Simon
Gongora, Mario Augusto
John, Robert, 1955-
Wills, K.
Journal Title
Journal ISSN
ISSN
DOI
Volume Title
Publisher
Peer reviewed
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.
Research Institute
Institute of Artificial Intelligence (IAI)