Path Planning of Mobile Robots Via Fuzzy Logic in Unknown Dynamic Environments with Different Complexities

Abstract

In this paper, the problem of mobile robot navigation that is one of the main tasks of the robots and robotics science has been studied. Path planning for mobile robots is finding free way without encountering barriers in different environments. The aim of this paper is finding the shortest path in unknown, dynamic environments with various complexities. Hence in this research a new method is presented with using fuzzy logic. In this way, an optimal path is chosen by two criteria: angle difference to the target and distance to the nearest obstacle. The goal selection the next node based on the obtained coefficient for each node along the way to reach the destination. Survey results of proposed algorithm simulation suggest that navigation of a robot from an obtained path has optimality criteria, and the length of selected path had the lowest cost and is very close to the length of the shortest possible path.