The Implementation of Fuzzy-Based Path Planning for Car-Like Mobile Robot

摘要

In this paper, fuzzy theory is employed in the practical car-like mobile robot. Two kinds of fuzzy logic controllers, steering angle control and speed control, are already designed. As giving the geometric data and desired destination, a collision-free trajectory connecting the robot's initial and final configurations is constructed in the free configuration space and then a time parameterization for the trajectory is found under some certain constraints so that the trajectory becomes a reference trajectory. Finally, the car-like mobile robot follows the reference trajectory as close as possible through a control scheme. The main object is to keep the car-like mobile robot from hitting the obstacles and to bring this mobile robot to a desired position. Finally, the experiment results verify that the proposed method will lead the car-like mobile robot to dodge the obstacle and reach the target.