zeryabmoussaoui / fuzzy-robot-type2

An implementation of Fuzzy Logic Control Type 2 for Mobile Robot

Author : Zeryab Moussaoui

Fuzzy Robot Type2

This is an implementation of Fuzzy Logic Control Type 2 for Mobile Robot. It is based on :

• The Mission On Mars Robot Challenge environment
• The IT2-FLS library.

It performs Goal Reach to a defined landmark, with obstacle Avoidance. Both functions are implented using Fuzzy LogiC Control type 1 or 2.

Requirements

Warning for non-professionnal : this would be either expensive or illegal. I hate to open-source code which only worked on proprietary software.

1. Matlab/Simulink (Tested on R2015B).

2. Mission On Mars Robot Challenge required librairies :

• Control System Toolbox.
• Database Toolbox.
• Stateflow.
• Systemtest

3. My patched version of IT2-FLS library.

Installation :

Copy in your Mission On Mars Robot Challenge environment :

• The .slx files to the ./model directory.
• The scenario to the ./scenario directory.
• The loadParameters to the ./data directory.

Load the T2_avoidance.t2fis example controller using readt2fis function

Execution

Follow the Mission On Mars Robot Challenge documentation.