Multi 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 multi AGVs 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, and avoiding collisions is introduced. Also for better navigation, the trajectory of AGV have been saved, after finding the destination, the other AGVs can use this path for finding the destination. Simulation results show satisfactory performance of the proposed method.