Performance Measurement Under Increasing Environmental Uncertainty in the Context of Interval Type-2 Fuzzy Logic Based Robotic Sailing

8 Pages Posted: 26 Aug 2016

See all articles by Naisan Benatar

Naisan Benatar

University of Nottingham

Uwe Aickelin

University of Melbourne - School of Computing and Information Systems

Jonathan Garibaldi

University of Nottingham - School of Computer Science

Date Written: January 1, 2013

Abstract

Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be inappropriate for use under conditions where the environmental uncertainty changes significantly between experiments. An overview of current methods which have been applied by other authors is presented, followed by a design of a more sophisticated method of comparison. This method is then applied to a robotic control problem to observe its outcome compared with a single measure. Results show that the technique described provides a more robust method of performance comparison than less complex methods allowing better comparisons to be drawn.

Keywords: Interval Type-2 Fuzzy, Robot Boat control, Fuzzy Control, Performance measures, Uncertainty

Suggested Citation

Benatar, Naisan and Aickelin, Uwe and Garibaldi, Jonathan, Performance Measurement Under Increasing Environmental Uncertainty in the Context of Interval Type-2 Fuzzy Logic Based Robotic Sailing (January 1, 2013). Available at SSRN: https://ssrn.com/abstract=2828470 or http://dx.doi.org/10.2139/ssrn.2828470

Naisan Benatar

University of Nottingham ( email )

University Park
Nottingham, NG8 1BB
United Kingdom

Uwe Aickelin (Contact Author)

University of Melbourne - School of Computing and Information Systems ( email )

Australia

Jonathan Garibaldi

University of Nottingham - School of Computer Science ( email )

Jubilee Campus
Wollaton Road
Nottingham, NG8 1BB
United Kingdom

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