A Multi-agent Optimal Path Planning Approach to Robotics Environment

摘要

A mobile robot having to navigate purposefully from a start location to a target location, needs two basic requirements: sensing and reasoning. However, the pervasive presence of uncertainty in sensing makes the choice of a suitable tool of reasoning and decision making that can deal with incomplete information, vital to ensure a robust control system. In the existing system the mobile robot navigates in the known environment with a predefined path. This problem can be overcome by the proposed navigation method using fuzzy logic. It proposes a fuzzy logic approach to secure a collision free path avoiding multiple dynamic obstacles. The proposed navigator consists of an Fuzzy-Based Collision Avoidance , pit detection sensor and color sensor. The decisions are taken at each action step so that the mobile robot can go for the goal position without colliding with obstacles. Fuzzy rule bases are built which requires simple evaluation data rather than thousands of input-output training data. The effectiveness of the proposed method is verified by a series of simulations and implementing it with the microcontroller to navigate.