Research on Mobile Robot Path Planning Based on Fuzzy Artificial Potential Field Algorithm

摘要

Route planning is a hot issue in mobile robot research. Artificial potential field (APF) method is a classical method to figure out mobile route planning problem. However, the traditional APF method has the disadvantages of being unable to reach and gradually moving away from the target and wandering in situ and falling into local optimum. Therefore, an improved APF method combining fuzzy control with APF method is proposed. Through the design of two double input single output fuzzy controllers, the heading angle and speed are adjusted in real time to help the robot conquers the defects of the traditional APF method in some special cases, reach the target more smoothly and safely, and achieve effective route planning. Simulation Experiment of Robot Route planning in Matlab. The Simulation result indicates that the fuzzy improved APF method can figure out the problem of unreachable target and local optimum, and also shows advantages in obstacle avoidance safety.