Mobile robot path planning based on the fuzzy artificial potential field

Abstract

The local minimum occurs easily when the robot plans a path with the traditional artificial potential field method.A fuzzy artificial potential field method is presented and a repulsive gain factor K is introduced to the repulsive potential function,which indicates the importance of the obstacles around the robot.The repulsive gain factor K can be adjusted through the fuzzy system.The simulation result shows that the robot can overcome the local minimum effectively and plan a smooth path successfully.