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A New Type-3 Fuzzy Predictive Approach for Mobile Robots

Author

Listed:
  • Guoxin Hua

    (School of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang 322100, China)

  • Fei Wang

    (School of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang 322100, China)

  • Jianhui Zhang

    (School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China)

  • Khalid A. Alattas

    (Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23890, Saudi Arabia)

  • Ardashir Mohammadzadeh

    (Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang 110870, China)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea)

Abstract

Wheeled mobile robots are widely used for their excellent mobility and high maneuverability. The intelligentization of mobile robots to perform autonomous movement is one of the favorite topics in the robotic field. This paper proposes a new intelligent path-following scheme for mobile robots. A secure path is designed by the chaotic systems and an unknown switching mechanism. The proposed controller is constructed by the type-3 (T3) fuzzy logic systems (FLSs) and a predictive compensator. The T3-FLSs are taught to obtain good accuracy. In addition, the stability is mathematically investigated and guaranteed by the designed compensator. The simulations show that the case-study robot follows the planned secure path well and resists uncertainties.

Suggested Citation

  • Guoxin Hua & Fei Wang & Jianhui Zhang & Khalid A. Alattas & Ardashir Mohammadzadeh & Mai The Vu, 2022. "A New Type-3 Fuzzy Predictive Approach for Mobile Robots," Mathematics, MDPI, vol. 10(17), pages 1-16, September.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3186-:d:906002
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    References listed on IDEAS

    as
    1. Mondal, Suman & Ray, Ranjit & N., Srinivasa Reddy & Nandy, Sambhunath, 2022. "Intelligent controller for nonholonomic wheeled mobile robot: A fuzzy path following combination," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 193(C), pages 533-555.
    2. Fanwei Meng & Aiping Pang & Xuefei Dong & Chang Han & Xiaopeng Sha, 2018. "H ∞ Optimal Performance Design of an Unstable Plant under Bode Integral Constraint," Complexity, Hindawi, vol. 2018, pages 1-10, August.
    3. Cheng-Hung Chen & Shiou-Yun Jeng & Cheng-Jian Lin, 2020. "Mobile Robot Wall-Following Control Using Fuzzy Logic Controller with Improved Differential Search and Reinforcement Learning," Mathematics, MDPI, vol. 8(8), pages 1-21, July.
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