# Gaze-Guided Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic
## 1 Introduction  
Mobile robot motion control problems have attracted considerable interest from researchers. The environments where the robot moves may vary from static or dynamic obstacles. In such an uncertain environment without prior information about the robot, target and obstacle, the basic aim is to safely move the robot without colliding with obstacles and reach the target point. The problem is the design of a safe and efficient algorithm that will guide robots to the target. The control system of these robots includes a set of algorithms. Recently, various methodologies have been utilized for mobile robot navigation [1; 2; 3]. These are, artificial potential fields (APF) [4; 5; 6], vision-based gaze guided control (GGC) [7; 8; 9; 10; 11; 12; 13; 14; 15], fuzzy logic control [16; 12; 17; 18], vector field histogram (VFH) [19; 20], rapidly-exploring random trees [21; 22], and obstacle avoidance and path planning [23] algorithms. The fuzzy logic controller is one of the efficient techniques, which tends to be used actually for steering control in unpredictable environments [3; 24; 25]. Fuzzy logic can smoothly be concerted to handle various types of linear and nonlinear systems like the human model perception process in uncertainty [26]. Motion control of a mobile robot in an unstructured dynamic or static environment is usually characterized by a number of uncertainties that characterize real-world environments. To have exact and complete for prior knowledge of these environments is not possible. As the membership sets of the type-2 fuzzy systems are fuzzy, they offer a stronger solution to the type-1 fuzziness to representand address uncertainty types. Type-1 fuzzy control cannot handle such kind of uncertainties. For this reason, the type-2 fuzzy system [24; 27] is preferred to handle uncertainties and increase performance of the control navigation system that was introduced by [PERSON] [28; 29]. Type-2 fuzzy sets theory has been further developed by [PERSON] and [PERSON] [24; 30; 31]. Theoretical background computational methods of IT2 FIS and its design principles were developed for type reduction [32; 33; 34; 35]. In the paper, a gaze guided robot control system, based on eye gaze using the type-2 fuzzy controller, is presented. It aimed to determine the robot's direction based on the target location and create wheel speeds based on gaze direction and demonstrate how gaze could be used for automatic control of a mobile robot. That means to obtain a model of the robot moving towards the objects by looking directly at the object of interest in the real world. The interaction methods are expected to benefit users with mobility in their daily works. The intent of gaze direction amplitudes and the angle variables are applied for designing the motion control system's input. The input variables are image coordinates in 2D image space of the scene monitored by the overhead camera. Eye movements identified such as looking up, down in \(y\) (eye width) coordinates and left and right in \(x\) (eye height) coordinates values were mapped to the mobile robot steering commands. The approximate width (X) and height (Y) of the eye was taken into account for the inputs. Gaze combination control is a benefit from effective hands-free input parameter of remote vehicles control. Gaze-based robot control work done in this regard is relatively scarce. Combining different types of technology with eye based systems [36; 37; 38; 39; 40] integration can be useful for disabled, elderly and patients peoples that especially with neuro-motor disabilities. They can remotely control a moving platform [11; 12; 41; 42] with these technologies in complex daily tasks [14; 43]. A wheelchair is a good substitute, for example Reference [44]. It's orientation commands are created by a wheelchair mounted eye movement tracking system [45; 46; 47]. The proposed gaze guided robot control (GGC) system consist of an EV3 robotic platform. It is highly customizable and provides advanced LabVIEW programming features [48; 49].