The Path Planning Control of a Mobile Robot Based on Fuzzy and Fuzzy Adaptive PID

Abstract

The purpose of this paper is to suggest and examine a control system with a fuzzy controller and a fuzzy-PID controller to solve the problem of mobile robot path planning. The environment information about obstacles and the goal has been detected by using sensors. The system divides environment situations into two types the obstacle mode and non-obstacle mode. In view of the oscillation problem existing in fuzzy control when there is no obstacle, this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode. The robot performs the real-time planning choice by path planning selector, and the control system is simulated by Matlab software. The simulation result shows that the control strategy has the characteristics of faster response, better real-time performance and achieves a better path from the start point to the target point.