AGV Path Planning in Unknown Environment Using Fuzzy Inference Systems

摘要

Path planning is one of the most important fields of research in the area of robotics. In this paper, a path planning method for a certain type of wheeled mobile robots called automated guided vehicles (AGVs) is proposed. The proposed model applies fuzzy control techniques to navigate the AGV in an unknown environment to reach a certain destination. In addition, a new method for escaping local minimums, which may be very critical issue faced by an AGV in an unknown environment, is introduced. Simulation results show satisfactory performance of the proposed method