Mobile Robot Autonomous Path Planning Based on Fuzzy Logic and Filter Smoothing in Dynamic Environment

The mobile robot has been one of the hottest fields in recent years, it has been widely applied in the most critical and efficient occasions in the industry, meanwhile, path planning becomes a frontier and interesting research topic for the mobile robot. In this paper, firstly mobile robot is introduced, some universal path planning algorithms of the mobile robot are reviewed, then a fuzzy logic and filter smoothing based on the data from the laser scan sensor is proposed, the path planning and autonomous obstacle avoidance based on this algorithm is emphasized because it can automatically find the best path according to the size and position of gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and obstacle avoidance algorithms are tested on this mobile robot, the testing results show this algorithm has the advantage of responding quickly, global optimized and hardware resource saved compared with other algorithms, it is suitable for the mobile robot that is designed on the embedded system and it can meet our designed requirement.