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Type-2 Fuzzy Control of a Mobile Robot MPhil / PhD Transfer Report November 2003

Fuzzy methods allow the processing of imprecise and uncertain variables. Fuzzy methods come in two main flavours, type-1 and type-2. Type-1 fuzziness represents the first step toward the full processing of uncertainties. Type-2 fuzziness builds upon the strengths of the type-1 methods and overcomes some of the limitations. Reasoning methods based on logical implication are well documented for both type-1 and type-2 fuzzy logic, yet little work has been done toward casual reasoning in the fuzzy paradigm. This area is explored and problems encountered are noted. The discussion moves on to look at the derivation of the arithmetical operations for type-2 fuzzy numbers. The Author gives the novel methods that were presented at a conference [5] and demonstrates the problem of computational complexity that has so far limited the application of type-2 methods. It is concluded that the PhD should focus on overcoming the complexity of type-2 methods so that type-2 may be applied to real time applications, specifically a mobile robot controller.