Comparison Study of Mamdani Method and Sugeno Method in The Navigation System For Indoor Mobile Robot
Comparison Study of Mamdani Method and Sugeno Method in The Navigation System For Indoor Mobile Robot
Comparison Study of Mamdani Method and Sugeno Method in The Navigation System For Indoor Mobile Robot
ABSTRACT
Robotics is rapidly growing field and has attracted many
researchers for the evolution of human social needs.
Robotics has wide range of applications like
construction robotics, medical robotics, industrial
robotics, space robotics and many more. Among of these
fields particularly in manufacturing industry robots can
assist the human to make the task simpler or even can
replace the human to perform a task. Basically robot is a
mechanical device that interacts with the environment
physically and navigates through the environment. The
movement of autonomous robots in unknown
environment is a complex task that further require a
complex control system which can command the robot
to deal with that uncertainty and make them decide to
take appropriate step according to some algorithm or
rules which will be defined in that particular control
system. Lofti Zadeh proposed a mathematical system,
called fuzzy logic that can model the nonlinear problems
with less complexity.
Keywords - fuzzy logic, Mamdani method, MATLAB
simulation, Sugeno, Obstacle Avoidance, wall following.
I.
INTRODUCTION
II.
III.
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through a fuzzification step. Fuzzification involves preset membership functions for data interpretation as
defined by the user. This data then enter a rule matrix of
IF-THEN statements to create a fuzzy output. In order
for the controller to use the processed output, one last
step, a defuzzification process turns the fuzzy output into
a clear and concise output value to be performed by the
system. Fig 1 shows the basic fuzzy inference system
diagram. The basic difference between mamdani method
and sugeno method lies in the defuzzification section. In
mamdani method defuzzifiction is done using linguistic
variables while on sugeno method this part consists of
either constant values or the linear values. Fuzzy set
theory is an extension of the classical set theory, and is
also a difficult mathematical notion [15].
IV.
SIMULATION
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V.
RESULTS
S.
No.
Mamda
ni
method
(obstruc
ted
path)
Sugeno
method
(obstruc
ted
path)
Sugeno
method
(path
with
obstacle
s)
68.630
Mamda
ni
method
(path
with
obstacle
s)
32.663
70.435
70.478
67.809
32.700
32.931
69.973
67.253
32.857
32.963
VI.
32.860
CONCLUSION
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