Path Planning of an Indoor Mobile Robot Navigated by Infrared

Abstract

With the partial or global target positions unknown, mobile robot detects the environment information by laser radar when it can not feel infrared of some frequency. The combination of the resolution-changed time-varying potential field algorithm and the traditional method of fuzzy logic control makes the robot quickly get out of the local environment. Having felt the infrared from outside, the robot will trace the infrared and reach the target positions accurately. Fuzzy control solves the problem of the oscillation before and after infrared tracking. An answer to the issue of the indoor mobile robot's path planning is proposed.