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A Hierarchical Type-2 Fuzzy Logic Control Architecture for Autonomous Mobile Robots
IEEE transactions on fuzzy systems
This paper describes the design and implementation of a real-time autonomous mobile robot aimed at navigating in real farms with no operator intervention. The agricultural environment being targeted consists of an irregular terrain supporting crops or sparsely populated with objects which gives rise to complex problems of identification, monitoring and control. In this paper we introduce a fuzzy hierarchical controller for such agricultural robots. The controller utilises co-operatingdoi:10.1109/tfuzz.2004.832538 fatcat:rmulhh56wngwfcd46nm3acuuq4