{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T08:26:02Z","timestamp":1769502362127,"version":"3.49.0"},"reference-count":73,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2021,5,28]],"date-time":"2021-05-28T00:00:00Z","timestamp":1622160000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001348","name":"Agency for Science, Technology and Research","doi-asserted-by":"publisher","award":["192 22 00108"],"award-info":[{"award-number":["192 22 00108"]}],"id":[{"id":"10.13039\/501100001348","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The inspection and maintenance of drains with varying heights necessitates a drain mapping robot with trained labour to maintain community hygiene and prevent the spread of diseases. For adapting to level changes and navigating in the narrow confined environments of drains, we developed a self-configurable hybrid robot, named Tarantula-II. The platform is a quadruped robot with hybrid locomotion and the ability to reconfigure to achieve variable height and width. It has four legs, and each leg is made of linear actuators and modular rolling wheel mechanisms with bi-directional movement. The platform has a fuzzy logic system for collision avoidance of the side wall in the drain environment. During level shifting, the platform achieves stability by using the pitch angle as the feedback from the inertial measuring unit (IMU) mounted on the platform. This feedback helps to adjust the accurate height of the platform. In this paper, we describe the detailed mechanical design and system architecture, kinematic models, control architecture, and stability of the platform. We deployed the platform both in a lab setting and in a real-time drain environment to demonstrate the wall collision avoidance, stability, and level shifting capabilities of the platform.<\/jats:p>","DOI":"10.3390\/s21113744","type":"journal-article","created":{"date-parts":[[2021,5,31]],"date-time":"2021-05-31T03:45:29Z","timestamp":1622432729000},"page":"3744","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3843-9997","authenticated-orcid":false,"given":"Rizuwana","family":"Parween","sequence":"first","affiliation":[{"name":"Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3598-5570","authenticated-orcid":false,"given":"M. A. Viraj J.","family":"Muthugala","sequence":"additional","affiliation":[{"name":"Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore"}]},{"given":"Manuel V.","family":"Heredia","sequence":"additional","affiliation":[{"name":"Apt of Engineering and Technology, Universidad Aut\u00f3noma de Occidente, Macario Gaxiola and Highway Mexico 15, Los Mochis 81223, Sinaloa, Mexico"}]},{"given":"Karthikeyan","family":"Elangovan","sequence":"additional","affiliation":[{"name":"Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6504-1530","authenticated-orcid":false,"given":"Mohan Rajesh","family":"Elara","sequence":"additional","affiliation":[{"name":"Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1002\/rob.20193","article-title":"ATHLETE: A cargo handling and manipulation robot for the moon","volume":"24","author":"Wilcox","year":"2007","journal-title":"J. Field Robot."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Bjelonic, M., Sankar, P.K., Bellicoso, C.D., Vallery, H., and Hutter, M. (2019). Rolling in the Deep\u2013Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization. arXiv.","DOI":"10.1109\/LRA.2020.2979661"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"(2012). Interaction Mechanical Analysis between the Lunar Rover Wheel-Leg Foot and Lunar Soil. Procedia Eng., 29, 58\u201363.","DOI":"10.1016\/j.proeng.2011.12.668"},{"key":"ref_4","unstructured":"Yuk, N.S., and Kwon, D.S. (2008, January 14\u201317). Realization of expressive body motion using leg-wheel hybrid mobile robot: KaMERo1. Proceedings of the 2008 International Conference on Control, Automation and Systems, Seoul, Korea."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Tanaka, T., and Hirose, S. (2008, January 22\u201326). Development of leg-wheel hybrid quadruped \u201cAirHopper\u201d design of powerful light-weight leg with wheel. Proceedings of the 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France.","DOI":"10.1109\/IROS.2008.4650880"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Savin, S., and Vorochaeva, L. (2017, January 29\u201330). Footstep planning for a six-legged in-pipe robot moving in spatially curved pipes. Proceedings of the 2017 International Siberian Conference on Control and Communications (SIBCON), Astana, Kazakhstan.","DOI":"10.1109\/SIBCON.2017.7998581"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1456","DOI":"10.1016\/j.proeng.2012.07.335","article-title":"A Review: Hybrid Locomotion of In-pipe Inspection Robot","volume":"41","author":"Roslin","year":"2012","journal-title":"Procedia Eng."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Han, S.C., An, J., and Moon, H. (November, January 30). A remotely controlled out-pipe climbing robot. Proceedings of the 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, Korea.","DOI":"10.1109\/URAI.2013.6677490"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1729881416658180","DOI":"10.1177\/1729881416658180","article-title":"Scorpio: A biomimetic reconfigurable rolling\u2013crawling robot","volume":"13","author":"Tan","year":"2016","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Yanagida, T., Elara Mohan, R., Pathmakumar, T., Elangovan, K., and Iwase, M. (2017). Design and Implementation of a Shape Shifting Rolling\u2013Crawling\u2013Wall-Climbing Robot. Appl. Sci., 7.","DOI":"10.3390\/app7040342"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1016\/j.asd.2004.06.003","article-title":"Mechanical aspects of legged locomotion control","volume":"33","author":"Koditschek","year":"2004","journal-title":"Arthropod Struct. Dev."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Suwannasit, K., and Laksanachawen, S. (2004, January 24). A bio-inspired hybrid leg-wheel robot. Proceedings of the 2004 IEEE Region 10 Conference TENCON 2004, Chiang Mai, Thailand.","DOI":"10.1109\/TENCON.2004.1414978"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Wu, P., Liu, M., Gong, A., and Zhuang, E. (2018, January 10\u201312). Finite Element Analysis of Municipal Drainages Dredging Robot. Proceedings of the 2018 6th International Conference on Mechanical, Automotive and Materials Engineering (CMAME), Hong Kong, China.","DOI":"10.1109\/CMAME.2018.8592233"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Fucai, Y., and Lizhu, W. (2010, January 5\u20136). The Design and Study of the Drainage Pipelines Dredging Robot. Proceedings of the 2010 International Conference on Computing, Control and Industrial Engineering, Wuhan, China.","DOI":"10.1109\/CCIE.2010.12"},{"key":"ref_15","unstructured":"Wu, D., Ogai, H., Yeh, Y., Hirai, K., Abe, T., and Sato, G. (2009, January 18\u201321). Drain pipe inspection robot using wireless communication system. Proceedings of the 2009 ICCAS-SICE, Fukuoka, Japan."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Lee, M., Park, J.W., Park, S., Lee, J., Park, S., Kim, J., Hong, Y., Suh, J., and Lee, Y. (2012, January 20\u201324). An underwater cleaning robot for industrial reservoirs. Proceedings of the 2012 IEEE International Conference on Automation Science and Engineering (CASE), Seoul, Korea.","DOI":"10.1109\/CoASE.2012.6386421"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Hayat, A., Elangovan, K., Rajesh Elara, M., and Teja, M. (2019). Tarantula: Design, modeling, and kinematic identification of a quadruped wheeled robot. Appl. Sci., 9.","DOI":"10.3390\/app9010094"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"198","DOI":"10.1016\/j.jhydrol.2011.04.030","article-title":"The impact of drain blocking on an upland blanket bog during storm and drought events, and the importance of sampling-scale","volume":"404","author":"Wilson","year":"2011","journal-title":"J. Hydrol."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"334","DOI":"10.3376\/1081-1710(2006)31[334:FAMPFS]2.0.CO;2","article-title":"Factors affecting mosquito production from stormwater drains and catch basins in two Florida cities","volume":"31","author":"Rey","year":"2006","journal-title":"J. Vector Ecol."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1016\/0169-7722(88)90038-1","article-title":"Tile drain sampling of preferential flow on a field scale","volume":"3","author":"Richard","year":"1988","journal-title":"J. Contam. Hydrol."},{"key":"ref_21","first-page":"441","article-title":"Model Predictive Load Distribution Control for Leg\/Wheel Mobile Robots on Rough Terrain","volume":"51","author":"Morihiro","year":"2018","journal-title":"IFAC-Pap."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Kamedu\u0142a, M., Kashiri, N., and Tsagarakis, N.G. (2020). Wheeled motion kinematics and control of a hybrid mobility CENTAURO robot. Robot. Auton. Syst., 103482.","DOI":"10.1016\/j.robot.2020.103482"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Bruzzone, L., and Fanghella, P. (2014, January 10\u201312). Mantis hybrid leg-wheel robot: Stability analysis and motion law synthesis for step climbing. Proceedings of the 2014 IEEE\/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), Senigallia, Italy.","DOI":"10.1109\/MESA.2014.6935540"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Li, Y. (2010, January 1\u20133). Dynamic Simulation Analyses of a Six-Leg-Wheel Hybrid Mobile Robot under Uneven Terrains. Proceedings of the 2010 Third International Conference on Intelligent Networks and Intelligent Systems, Shenyang, China.","DOI":"10.1109\/ICINIS.2010.176"},{"key":"ref_25","unstructured":"Nakajima, S., Nakano, E., and Takahashi, T. (October, January 28). Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains. Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sendai, Japan."},{"key":"ref_26","unstructured":"Adachi, H., and Koyachi, N. (November, January 29). Development of a leg-wheel hybrid mobile robot and its step-passing algorithm. Proceedings of the 2001 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), Maui, HI, USA."},{"key":"ref_27","first-page":"183","article-title":"Unstructured terrain adaptive navigation of self-reconfigurable quadruped robot","volume":"48","author":"Heredia","year":"2015","journal-title":"IFAC-Pap."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1016\/j.robot.2016.10.017","article-title":"Continuous mapping and localization for autonomous navigation in rough terrain using a 3D laser scanner","volume":"88","author":"Droeschel","year":"2017","journal-title":"Robot. Auton. Syst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"108831","DOI":"10.1016\/j.automatica.2020.108831","article-title":"A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments","volume":"114","author":"Matveev","year":"2020","journal-title":"Automatica"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"012141","DOI":"10.1088\/1757-899X\/149\/1\/012141","article-title":"Performance comparison of Infrared and Ultrasonic sensors for obstacles of different materials in vehicle\/robot navigation applications","volume":"Volume 149","author":"Adarsh","year":"2016","journal-title":"IOP Conference Series: Materials Science and Engineering"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Rodin, R., and \u0160tajduhar, I. (2017, January 22\u201326). The challenge of measuring distance to obstacles for the purpose of generating a 2-D indoor map using an autonomous robot equipped with an ultrasonic sensor. Proceedings of the 2017 40th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO), Opatija, Croatia.","DOI":"10.23919\/MIPRO.2017.7973574"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Muthugala, M.A.V.J., Vega-Heredia, M., Mohan, R.E., and Vishaal, S.R. (2020). Design and Control of a Wall Cleaning Robot with Adhesion-Awareness. Symmetry, 12.","DOI":"10.3390\/sym12010122"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Muthugala, M.A.V.J., Vega-Heredia, M., Vengadesh, A., Sriharsha, G., and Elara, M.R. (2019, January 3\u20138). Design of an Adhesion-Aware Fa\u00e7ade Cleaning Robot. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8967978"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"506","DOI":"10.4218\/etrij.2018-0192","article-title":"Tunnel lane-positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system","volume":"41","author":"Jeong","year":"2019","journal-title":"ETRI J."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1109\/TIV.2019.2938098","article-title":"Smooth Automatic Stopping for Ultra-Compact Vehicles","volume":"4","author":"Premachandra","year":"2019","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1016\/j.isatra.2018.01.024","article-title":"Flocking of quad-rotor UAVs with fuzzy control","volume":"74","author":"Mao","year":"2018","journal-title":"ISA Trans."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"5069","DOI":"10.1109\/TIE.2017.2767546","article-title":"Type-2 fuzzy logic controllers made even simpler: From design to deployment for UAVs","volume":"65","author":"Sarabakha","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Wang, C., Gu, J., and Li, Z. (2019, January 23\u201326). Switching Motion Control of the Climbing Robot for Aircraft Skin Inspection. Proceedings of the 2019 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), New Orleans, LA, USA.","DOI":"10.1109\/FUZZ-IEEE.2019.8858987"},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Muthugala, M.A.V.J., Samarakoon, S.M.B.P., and Elara, M.R. (2020). Tradeoff between Area Coverage and Energy Usage of a Self-Reconfigurable Floor Cleaning Robot based on User Preference. IEEE Access.","DOI":"10.1109\/ACCESS.2020.2988977"},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Dirik, M., Castillo, O., and Kocamaz, A.F. (2019). Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control. Axioms, 8.","DOI":"10.3390\/axioms8020058"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1694","DOI":"10.1109\/ACCESS.2017.2780082","article-title":"Human expertise in mobile robot navigation","volume":"6","author":"Faisal","year":"2017","journal-title":"IEEE Access"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Deepak, B., and Parhi, D. (2019). New strategy for mobile robot navigation using fuzzy logic. Information Systems Design and Intelligent Applications, Springer.","DOI":"10.1007\/978-981-13-3329-3_1"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"1729881418755768","DOI":"10.1177\/1729881418755768","article-title":"A fuzzy logic navigation controller implemented in hardware for an electric wheelchair","volume":"15","author":"Rojas","year":"2018","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"265","DOI":"10.1016\/j.asoc.2018.11.026","article-title":"Application of probability to enhance the performance of fuzzy based mobile robot navigation","volume":"75","author":"Patle","year":"2019","journal-title":"Appl. Soft Comput."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"1654","DOI":"10.1007\/s13198-019-00918-2","article-title":"Mobile robot visual navigation based on fuzzy logic and optical flow approaches","volume":"10","author":"Nadour","year":"2019","journal-title":"Int. J. Syst. Assur. Eng. Manag."},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Adib, A., and Masoumi, B. (2017, January 9). Mobile robots navigation in unknown environments by using fuzzy logic and learning automata. Proceedings of the 2017 Artificial Intelligence and Robotics (IRANOPEN), Qazvin, Iran.","DOI":"10.1109\/RIOS.2017.7956444"},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"585","DOI":"10.1109\/TCDS.2017.2681181","article-title":"Evolutionary Wall-Following Hexapod Robot Using Advanced Multiobjective Continuous Ant Colony Optimized Fuzzy Controller","volume":"10","author":"Juang","year":"2017","journal-title":"IEEE Trans. Cogn. Dev. Syst."},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"Muthugala, M.A.V.J., Samarakoon, S.M.B.P., Mohan Rayguru, M., Ramalingam, B., and Elara, M.R. (2020). Wall-Following Behavior for a Disinfection Robot Using Type 1 and Type 2 Fuzzy Logic Systems. Sensors, 20.","DOI":"10.3390\/s20164445"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1080\/23080477.2017.1348061","article-title":"Smart robot wall-following control using a sonar behavior-based fuzzy controller in unknown environments","volume":"5","author":"Lee","year":"2017","journal-title":"Smart Sci."},{"key":"ref_50","first-page":"113","article-title":"Mobile robot wall-following control using a behavior-based fuzzy controller in unknown environments","volume":"16","author":"Lin","year":"2019","journal-title":"Iran. J. Fuzzy Syst."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"113429","DOI":"10.1109\/ACCESS.2020.2997895","article-title":"Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability","volume":"8","author":"Parween","year":"2020","journal-title":"IEEE Access"},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Gupta, M., Awaysheh, F.M., Benson, J., Al Azab, M., Patwa, F., and Sandhu, R. (2020). An attribute-based access control for cloud-enabled industrial smart vehicles. IEEE Trans. Ind. Inform.","DOI":"10.1109\/TII.2020.3022759"},{"key":"ref_53","unstructured":"Gautam, A.K., Sharma, V., Prakash, S., Gupta, M., and Tech, M. (2012). Improved hybrid intrusion detection system (HIDS): Mitigating false alarm in cloud computing. BL Joshi, 101."},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Gupta, M., and Sandhu, R. (2018, January 13\u201315). Authorization framework for secure cloud assisted connected cars and vehicular internet of things. Proceedings of the 23nd ACM on Symposium on Access Control Models and Technologies, Indianapolis, IN, USA.","DOI":"10.1145\/3205977.3205994"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Gupta, M., Benson, J., Patwa, F., and Sandhu, R. (2019, January 25\u201327). Dynamic groups and attribute-based access control for next-generation smart cars. Proceedings of the Ninth ACM Conference on Data and Application Security and Privacy, Richardson, TX, USA.","DOI":"10.1145\/3292006.3300048"},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Jia, Y., Luo, X., Han, B., Liang, G., Zhao, J., and Zhao, Y. (2018). Stability criterion for dynamic gaits of quadruped robot. Appl. Sci., 8.","DOI":"10.3390\/app8122381"},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.robot.2017.09.008","article-title":"A transformable wheel-legged mobile robot: Design, analysis and experiment","volume":"98","author":"Sun","year":"2017","journal-title":"Robot. Auton. Syst."},{"key":"ref_58","doi-asserted-by":"crossref","unstructured":"Doroftei, I., and Ion, I. (2013). Design and Locomotion Modes of a Small Wheel-Legged Robot. Nature-Inspired Mobile Robotics, World Scientific.","DOI":"10.1142\/9789814525534_0077"},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1007\/s00422-003-0446-2","article-title":"Stability in legged locomotion","volume":"90","year":"2004","journal-title":"Biol. Cybern."},{"key":"ref_60","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1002\/rob.8104","article-title":"Dynamic modeling, stability, and energy efficiency of a quadrupedal walking machine","volume":"18","author":"Lin","year":"2001","journal-title":"J. Robot. Syst."},{"key":"ref_61","first-page":"131","article-title":"On the stability properties of quadruped creeping gait","volume":"3","author":"McGhee","year":"1977","journal-title":"Math. Bio-Sci."},{"key":"ref_62","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1016\/0025-5564(68)90090-4","article-title":"On the stability properties of quadruped creeping gaits","volume":"3","author":"McGhee","year":"1968","journal-title":"Math. Biosci."},{"key":"ref_63","doi-asserted-by":"crossref","unstructured":"De Silva, C.W. (2018). Intelligent Control: Fuzzy Logic Applications, CRC Press.","DOI":"10.1201\/9780203750513"},{"key":"ref_64","unstructured":"Ross, T.J. (2005). Fuzzy Logic with Engineering Applications, John Wiley & Sons."},{"key":"ref_65","doi-asserted-by":"crossref","unstructured":"Ibarra, L., and Webb, C. (2016). Advantages of fuzzy control while dealing with complex\/unknown model dynamics: A quadcopter example. New Appl. Artif. Intell., 93.","DOI":"10.5772\/62530"},{"key":"ref_66","doi-asserted-by":"crossref","unstructured":"Nguyen, H.T., Walker, C.L., and Walker, E.A. (2018). A First Course in Fuzzy Logic, CRC Press.","DOI":"10.1201\/9780429505546"},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1007\/s10846-016-0448-7","article-title":"A highly accurate model-free motion control system with a Mamdani fuzzy feedback controller Combined with a TSK fuzzy feed-forward controller","volume":"86","author":"Ren","year":"2017","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"1513","DOI":"10.1109\/TFUZZ.2016.2540065","article-title":"Improved uncertainty capture for nonsingleton fuzzy systems","volume":"24","author":"Pourabdollah","year":"2016","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_69","doi-asserted-by":"crossref","first-page":"901","DOI":"10.1016\/j.asoc.2016.08.057","article-title":"Fuzzy logic controllers design for omnidirectional mobile robot navigation","volume":"49","author":"Masmoudi","year":"2016","journal-title":"Appl. Soft Comput."},{"key":"ref_70","doi-asserted-by":"crossref","unstructured":"Kumar, N., Tak\u00e1cs, M., and V\u00e1mossy, Z. (2017, January 26\u201328). Robot navigation in unknown environment using fuzzy logic. Proceedings of the 2017 IEEE 15th International Symposium on Applied Machine Intelligence and Informatics (SAMI), Herl\u2019any, Slovakia.","DOI":"10.1109\/SAMI.2017.7880317"},{"key":"ref_71","doi-asserted-by":"crossref","unstructured":"Omrane, H., Masmoudi, M.S., and Masmoudi, M. (2016). Fuzzy logic based control for autonomous mobile robot navigation. Comput. Intell. Neurosci., 2016.","DOI":"10.1155\/2016\/9548482"},{"key":"ref_72","doi-asserted-by":"crossref","first-page":"1040","DOI":"10.1007\/s40435-020-00622-1","article-title":"A survey: Fuzzify parameters and membership function in electrical applications","volume":"8","author":"Zangeneh","year":"2020","journal-title":"Int. J. Dyn. Control"},{"key":"ref_73","doi-asserted-by":"crossref","unstructured":"Wu, D., and Mendel, J.M. (2014, January 6\u201311). Designing practical interval type-2 fuzzy logic systems made simple. Proceedings of the 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Beijing, China.","DOI":"10.1109\/FUZZ-IEEE.2014.6891534"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/11\/3744\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T06:09:33Z","timestamp":1760162973000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/11\/3744"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,28]]},"references-count":73,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2021,6]]}},"alternative-id":["s21113744"],"URL":"https:\/\/doi.org\/10.3390\/s21113744","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,28]]}}}