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Context and background: Complex fuzzy theory has a strong practical implication in many real-world applications. Complex Fuzzy Inference System (CFIS) is a powerful technique to overcome the challenges of uncertain, periodic data. However, a question is raised for CFIS: How can we deduce and predict the result in case there is little knowledge about data information and rule base? This is significance because many real applications do not have enough knowledge of rule base for inference so that the performance of systems may be low. Thus, it is necessary to have an approximate reasoning method to represent and derive final results. Motivation: Recently, the Mamdani Complex Fuzzy Inference System (M-CFIS) has been proposed with a specific inference mechanism according to the Mamdani type. A new improvement so-called the Mamdani Complex Fuzzy Inference System with Rule Reduction (M-CFIS-R) has been designed to utilize granular computing with complex similarity measures to reduce the rule base so as to gain better performance in decision-making problems. However in M-CFIS-R, testing data are checked by matching with each rule in the rule base, which leads to a high cost of computational time. Besides, if the testing data contain records that are not inferred by the rule base, the output cannot be generated. This happens in real commerce systems in which the rule base is small at the time of creation and needs to feed with new rules. Methodology: In order to handle those issues, this paper first time proposes the Fuzzy Knowledge Graph to represent the rule base in terms of linguistic labels and their relationships according to the rule set. An adjacent matrix of Fuzzy Knowledge Graph is generated for inference. When a record in the Testing dataset is given, it would be fuzzified and labelled. Each component in the record is checked with the Fuzzy Knowledge Graph by the inference mechanism in approximate reasoning called Fast Inference Search Algorithm. Then, we derive the label of the new record by the Max-Min operator. Besides, we also propose four extensions of

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Human behaviour demonstrates environmental awareness and self-awareness which is used to arrive at decisions and actions or reach conclusions based on reasoning and inference. Environmental awareness and self-awareness are traits which autonomous robotic systems must have to effectively plan an optimal route and operate in dynamic operating environments. This paper proposes a novel approach to enable autonomous robotic systems to achieve efficient coverage path planning, which combines adaptation with knowledge reasoning techniques and hedge algebras to achieve optimal coverage path planning in multiple decision-making under dynamic operating environments. To evaluate the proposed approach we have implemented it in a mobile cleaning robot. The results demonstrate the ability to avoid static and dynamic (moving) obstacles while achieving efficient coverage path planning with low repetition rates. While alternative current coverage path planning algorithms have achieved acceptable results, our reported results have demonstrated a significant performance improvement over the alternative coverage path planning algorithms.

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