INVESTIGATION OF CONTROL SYSTEMS BASED ON HEDGE ALGEBRAS IN MOBILE ROBOT CONTROL

Abstract

Mobile robots are increasingly widely applied in various fields, including
civilian, military, medical, transportation, and agriculture, and are the focus of
research for interested scientists. This study aims to investigate the impact of
changing control system laws based on the Hedge Algebra-based Controller (HAC)
to determine its control efficiency for mobile robots in terms of the shortest
travelling distance, reaching the goal, and avoiding obstacles. The investigated
model in this paper is inherited from a reference document. Several optimal rule
bases are proposed based on the original control rule base and analysis of
qualitative rule bases in the control system. The results are compared to find the
most appropriate optimal control rule base for the mobile robot. The simulation
results show that the HAC has higher efficiency than the Fuzzy set theory-based
controller (FC) in the reference document regarding the mobile robot's travelling
distance and computation time (CPU time). These results also indicate that HAC
can be applied to control motion for more complex robot models with more
complex control rule bases and multiple inputs.