Paper Info
Title
Wall-Following Behavior for a Disinfection Robot Using Type 1 and Type 2 Fuzzy Logic Systems.
Abstract
Infectious diseases are caused by pathogenic microorganisms, whose transmission can lead to global pandemics like COVID-19. Contact with contaminated surfaces or objects is one of the major channels of spreading infectious diseases among the community. Therefore, the typical contaminable surfaces, such as walls and handrails, should often be cleaned using disinfectants. Nevertheless, safety and efficiency are the major concerns of the utilization of human labor in this process. Thereby, attention has drifted toward developing robotic solutions for the disinfection of contaminable surfaces. A robot intended for disinfecting walls should be capable of following the wall concerned, while maintaining a given distance, to be effective. The ability to operate in an unknown environment while coping with uncertainties is crucial for a wall disinfection robot intended for deployment in public spaces. Therefore, this paper contributes to the state-of-the-art by proposing a novel method of establishing the wall-following behavior for a wall disinfection robot using fuzzy logic. A non-singleton Type 1 Fuzzy Logic System (T1-FLS) and a non-singleton Interval Type 2 Fuzzy Logic System (IT2-FLS) are developed in this regard. The wall-following behavior of the two fuzzy systems was evaluated through simulations by considering heterogeneous wall arrangements. The simulation results validate the real-world applicability of the proposed FLSs for establishing the wall-following behavior for a wall disinfection robot. Furthermore, the statistical outcomes show that the IT2-FLS has significantly superior performance than the T1-FLS in this application.
Year
DOI
Venue
2020
10.3390/s20164445
SENSORS
Keywords
DocType
Volume
wall following,fuzzy logic systems,wall disinfection,healthcare robotics
Journal
20
Issue
ISSN
Citations 
16
1424-8220
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
M. A. Viraj J. Muthugala179.31
S. M. Bhagya P. Samarakoon213.07
m m rayguru352.85
Balakrishnan Ramalingam400.34
Rajesh Elara Mohan58942.67