Waypoint Navigation of a Mobile Robot Using IT2FLC with Wheel Slip Dynamic Modelling and Parameters Uncertainties

In this paper, a robust waypoints navigation algorithm is proposed using the interval type 2 fuzzy logic controller. A full dynamic model for mobile robot with wheel slip is developed for robust navigation. The interval type 2 fuzzy logic controller algorithm (IT2FLC) is implemented and compared to the type 1 fuzzy logic controller (T1FLC) and Sliding mode controller (SMC) using a differential drive wheels mobile robot (DDWMR) in the presence of wheel slipping from the perspective of control design. In order to compare the robustness of each controller, many advanced robustness tests (modeling errors, localization uncertainties, loss of efficiency of motors, sliding ground) are developed. The obtained results show clearly the performances of the IT2FLC comparing to the T1FLC and SMC especially when significant wheel slip and parameters uncertainty are considered.