Path Planning Based on Fuzzy Logic Algorithm for Mobile Robots in Static Environment

被引：0

作者：

Li, Qing ^{[1
]}

Zhang, Chao ^{[1
]}

Han, Caiwei ^{[1
]}

Xu, Yinmei ^{[1
]}

Yin, Yixin ^{[1
]}

Zhang, Weicun ^{[1
]}

机构：

[1] Univ Sci & Technol Beijing, Sch Automat, Beijing 100083, Peoples R China

来源：

2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2013年

关键词：

Mobile Robots; Fuzzy Controller; Path Planning;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Firstly, the static fuzzy controller is designed and comparative simulation studies with the artificial potential field method show that it has better performance such as shorter path length, less computing time and local minimum and unreachable problems are avoided. Specific obstacle avoidance strategy is proposed for the partially unknown environment and simulation results illustrate its effectiveness. Moreover, improved control rules are developed respectively for u-slot and maze environments by modifying and optimizing some rules of the universal fuzzy controller.

引用

页码：2866 / 2871

页数：6