Type-2 fuzzy control for line following using line detection images

Abstract

This work presents a comparative analysis of Type-1 and Type-2 fuzzy controllers to drive an omnidirectional mobile robot in line-following tasks using line detection images. Image processing uses a Prewitt filter for edge detection and determines the error from the line location. The control systems are tested using four different paths from the Robotino® SIM simulator. Also, two different strategies in the design and implementation of the controllers are presented. In the first one, a PD controller scheme is extended by using a fuzzy system to have adaptive parameters P and D, additionally, Type-2 Fuzzy sets are used to give robustness to the controller. In the second case, a Fuzzy controller is designed to compute in a direct way the control variables and it is extended to Type-2 Fuzzy controller. Finally, experimental results and comparative analysis are presented for the five control schemes by comparing the running time and the standard deviation to measure the robustness of the control systems.