Path planning based on fuzzy logic algorithm for mobile robots in static environment

摘要

Firstly, the static fuzzy controller is designed and comparative simulation studies with the artificial potential field method show that it has better performance such as shorter path length, less computing time and local minimum and unreachable problems are avoided. Specific obstacle avoidance strategy is proposed for the partially unknown environment and simulation results illustrate its effectiveness. Moreover, improved control rules are developed respectively for u-slot and maze environments by modifying and optimizing some rules of the universal fuzzy controller.