Path planning based on fuzzy logic algorithm for mobile robots in dynamic environments

Abstract

Based on fuzzy control,the collisions avoidance problem of mobile robot path planning was solved,for making the robot find a collision-free path in the dynamic environment quickly and accurately and reach the target eventually.A fuzzy controller was designed according to the characteristics of dynamic environment;input and output variables of fuzzy controller were selected and fuzzy control rules were determined based on the angle between moving obstacle and robot motion directions,collision time and collision point on the obstacle.The simulation results show that the proposed control strategy is available.