Dynamic motion planning for autonomous mobile robot using fuzzy potential field

Abstract

A new fuzzy potential field is presented for autonomous mobile robot motion planning with dynamic environments. Two fuzzy models have been used to accomplish the total attractive and repulsive forces acting on the mobile robot. The proposed fuzzy potential field motion planning was investigated based on several conducted simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations the proposed approach was able to provide the robot with collision free path to softly land on the moving target and solved the local minimum problem within any stationary or dynamic environment compared to other potential field based approaches.