IT-2 Fuzzy Control and Behavioral Approach Navigation System for Holonomic 4WD/4WS Agricultural Robot


  • Hayat Ait dahmad Department of Applied Physics, Cadi Ayyad University, Marrakech, Morocco
  • Hassan Ayad Department of Applied Physics, Cadi Ayyad University, Marrakech, Morocco
  • Alfonso García Cerezo Department of Systems Engineering and Automation, University of Malaga, Malaga, Spain
  • Hajar mousannif Department of Informatics, Cadi Ayyad University, Marrakech, Morocco



TSK-IT2 fuzzy logic, Mandani-fuzzo logic, Supervisor, behavior approach


In contemporary agriculture, researchers are focusing on precision farming and environmentally conscious techniques, leading to the advancement of autonomous agricultural mobile robots. Consequently, A navigation system using TSK Interval Type-2 fuzzy logic has been developed and, for the first time, applied to a holonomic mobile agricultural robot equipped with four-wheel drive and steer. This system employs a behavioral approach to accomplish the robot’s primary objective in unfamiliar environments. It comprises four controllers: one exclusively dedicated to goal-seeking behavior, with the remaining controllers responsible for obstacle avoidance. Supervision of these controllers is conducted through the Mandani fuzzy logic approach, which combines the outputs of all four controllers, robot wheel velocities and steering angles, using a proposed equations. Various case studies were examined and simulated utilizing MATLAB and VREP software platform to assess the navigator system’s performance. The simulation outcomes showcase the efficiency of the proposed equations and the system’s navigation capabilities. The stability of the entire system was thoroughly examined and confirmed, employing the Lyapunov function, in environments with and without obstacles.


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