Moving obstacle avoidance control by fuzzy potential method and model predictive control

摘要

In this paper, we propose an obstacle avoidance method considering both the shape and dynamics of robot and the motion of obstacles, using model predictive control (MPC) and fuzzy potential method (FPM). FPM can deal with the shape of robot, but it cannot treat the dynamics of robot. On the other hand, MPC can deal with constraints including the dynamics of both robot and obstacles. The predicted movable range of obstacles is used as a prohibited region for MPC. Thus, combining FPM and MPC, the proposed method achieves moving obstacle avoidance. The effectiveness of the proposed method is verified through numerical simulations.