Fuzzy Logic-Based Trajectory Planning for Mobile Robots in an Uncertain and Complex Environment

Abstract

Mobile robot trajectory planning is a crucial aspect of robot navigation and control. It involves the creation of algorithms and strategies that enable a robot to move from one location to another while avoiding obstacles, following a predetermined path, and maintaining a desired speed and acceleration. However due to the physical constraints of the application theatre, it is really trivial issue to construct a path due to the missing and uncertain data of the environment. Fuzzy logic is a mathematical system that permits the representation and manipulation of imprecise or uncertain data. It is based on fuzzy sets, which permit continuous rather than discrete values, and fuzzy rules, which permit the representation of complex relationships between variables. Therefore, in this paper we aimed to develop a fuzzy logic-based trajectory planning algorithm for mobile robots in a dynamic and uncertain environment. Experimental results showed that the proposed approach reaches applicable trajectory paths for complex environments.