Receding Horizon Optimization under Local Environment for Robot Path Planning

Abstract

A fuzzy optimization method is presented and used in robot path planning in [4], but the robot will oscillate in some special environment. A receding horizon fuzzy optimization method under local environment is presented in this paper. Some history information is involved in the fuzzy optimization. By adding new constraint the sub-objective is consistent with global-subjective, and the oscillation problem is solved. The efficiency of the presented algorithm is validated by simulation results.