Path Planning for Mobile Robot using Fuzzy Controllers with Artificial Potential field

摘要

Aiming at the problem of mobile robot path planning in complex environment, a method of integrating fuzzy logic with artificial potential field (APF) was presented. To overcome the local minima problem of APF, a heading fuzzy controller was designed. While the robot is falling into the local minima, the fuzzy controller will generate an angle to modify the current heading so that the robot escapes local minima and avoid obstacles. According to the complexity of the working environment, a step fuzzy controller was designed, which enables the robot to adjust the step adaptively and reduces the algorithm loop times and computation time efficiently. Simulation results show that this method is effective and practical for the mobile robot path planning.