Système de navigation d’un robot mobile dans un environnement incertain utilisant la logique floue type 2

Abstract

This thesis focuses on the development of an navigation system for a mobile robot (Pioneer 3-DX) capable of obstacle avoidance in uncertain using a type-2 fuzzy logic approach. After an in-depth review of current navigation and obstacle avoidance techniques for mobile robots, the study concentrated on designing an efficient navigation algorithm considering environmental dynamics and associated uncertainties. The proposed algorithm relies on a precise analysis of available sensory data to safe and paths, integrating a logical model to ensure system stability and adaptability to changes. The system was through simulations and practical ,demonstrating high efficiency in optimizing travel time and reducing trajectory errors.