Path Planning Based on Artificial Potential Field and Fuzzy Control

摘要

An improved artificial potential field method is proposed aiming at the problems of local minimization and trajectory oscillation of traditional artificial potential field method in complex environment. When the mobile robot falls into the local minimum position, set the virtual target by analyzing the angle between the robot and obstacles to guide the robot escape from the dead zone. A fuzzy controller is designed to improve the problem of trajectory oscillation, which outputs the environment danger factor to adjust the step size of robot and enhance the trajectory smoothness of robot in complex environment. Simulation results show that the proposed method can achieve good collision avoidance effect in the environment with liner or U-shaped obstacle and a large number of discrete obstacles, and effectively improve the trajectory oscillation in complex environment.