A New Fuzzy Path Planning For Multiple Robots

摘要

Wheeled Mobile Robots are considered as the most widely used class of Mobile Robots. This is due to their fast manoeuvring, simple control methods and energy saving characteristics. A new fuzzy algorithm for path planning of multiple wheeled mobile robots is presented in this paper which is optimal both in sense of travelling time and distance. A new method is proposed to escape a local minimum. The proposed model is based on virtual force field technique. A cost function which is a combination of repelling and attracting functions determines the path of the robots to the destination. Repelling and attracting functions are measures of closeness to obstacles and destination respectively. Tracking error is minimized considering both static and dynamic obstacles and robots' relative priorities. In addition obstacles are considered to be fuzzy. Fuzzy control is used to control the velocity of each robot. Simulation results indicate that the computed path has the claimed properties and converges within an acceptable number of iterations. Also the results of the proposed method are found to be quite satisfactory regarding local minimum issue.