Fuzzy motion planning using the Takagi-Sugeno method

Abstract

The goal of this project is to examine an agent's environment in order to maximize its path planning strategy. Presented is the application of fuzzy logic concepts to the area of robot motion planning. Specifically, the approximate cell decomposition strategy is utilized because it includes some similar characteristics found in fuzzy systems. Notably, the use of linguistic variables, membership functions, and fuzzy spatial logic are topics which provide a basis in examining the usefulness of applying fuzzy logic to the area of motion planning.