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Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

1
Faculty of Engineering, Inonu University, Malatya 44280, Turkey
2
Tijuana Institute of Technology, Tijuana 22414, Mexico
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Author to whom correspondence should be addressed.
Axioms 2019, 8(2), 58; https://doi.org/10.3390/axioms8020058
Received: 1 March 2019 / Revised: 19 April 2019 / Accepted: 1 May 2019 / Published: 10 May 2019
(This article belongs to the Special Issue Type-2 Fuzzy Logic: Theory, Algorithms and Applications)
Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot. View Full-Text
Keywords: interval type-2 fuzzy logic; mobile robot; path planning; overhead camera; visual-servoing; obstacle-free interval type-2 fuzzy logic; mobile robot; path planning; overhead camera; visual-servoing; obstacle-free
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MDPI and ACS Style

Dirik, M.; Castillo, O.; Kocamaz, A.F. Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control. Axioms 2019, 8, 58.

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