A New T-S Model Based Fuzzy Logic Approach For Mobile Robots Path Planning

摘要

An important expectation from a mobile robot is to be able to explore in an unstructured path. This paper proposes a Takagi-Sugeno(T-S) type fuzzy inference system with grid partition technique for mobile robot path planning. The sensors extracted information from the robot is plugged into the proposed model to calculate the steering direction for the robot. The simulation results are showed considering various scenarios using V-REP mobile simulator. It is proved that using the proposed model the robot can rove in any kinds of terrains. The simulation results are let-out that T-S type fuzzy inference system path planning model showed the best results in all aspects. Finally, experimentation is carried out using a physical robot to validate the V-REP simulations and it is observed that our proposed approach has outperformed current exciting navigation methods.