Analysis of fuzzy rules for robot path planning

Abstract

Path planning is an important aspect in autonomous mobile robots. Various fuzzy logic methods are conveniently employed for path planning of mobile robots as they are most helpful in handling uncertain data. In this work the robot starts from a fixed initial location towards a goal destination without colliding with obstacles in between within a shortest path possible both in static as well as dynamic environment. Here an analysis of fuzzy rules for path planning of a mobile robot for various membership funcions is done. Both simulation results and real time implementations on I Robot create platform are shown in this paper. Fuzzy tool box in Matlab is used for simulation. Three combinations of membership functions with 24 rules are considered. These include-Trapezoidal and Triangular, Bell and Trapezoidal and finally triangular and Bell. The error between the calculated value and actual value indicate that the combination of Trapezoidal and Triangular is least.