Research on the Path Planning of Mobile Robot in Uncertainty Environment

摘要

The paper discusses the algorithm of path planning of mobile robot in uncertainty environment and presents a new algorithm-a fuzzy control method based on two-dot method. The supposed path is acquired with two-dot method at first. Then the points on the supposed path are treated as the aimed points at some stages and the supposed path is updated with the fuzzy control algorithm. This method can decrease the numbers of the fuzzy control rules and increase the speed of path planning. We have demonstrated the method with the experiments of obstacle-avoiding, path-tracking. The experiments indicate that the method has flexibility and robustness.