A fuzzy local path planning and obstacle avoidance for mobile robots

  • Authors:

  • H. Aminaiee

  • Affiliations:

  • Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran

  • Venue:
  • FS'05 Proceedings of the 6th WSEAS international conference on Fuzzy systems
  • Year:
  • 2005

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Abstract

This paper presents a local fuzzy path planning and obstacle avoidance method based on fuzzy logic. The main idea is to fuzzify the obstacles in the environment and use a fuzzy logic controller to guide the robot not to move too close to the obstacles. The human sense of obstacles and his behavior in obstacle avoidance is provided the Fuzzy Obstacle concept which is used in the obstacle avoidance unit. The advantage of local path planning approaches is their short response time and ability to be used in real-time implementations. But these methods suffer from local minima. This method has decreased the probability of having a local minimum compared to Khatib's potential field method. The new method is easily applicable in nonholonomic mobile robots.