Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method

摘要

In this paper, potential field algorithm was used for path planning in dynamic environment. This algorithm is used to plan a robot path because of its elegant mathematical analysis and simplicity. However, there are some problems. The problems are problem of collision risk, problem of avoidance path, problem of time consumption. In order to solve these problems, we fused potential field with fuzzy system. The input of the fuzzy system is set using relative velocity and location of robot and obstacle. The output of the fuzzy system is set using the weighting factor of repulsive potential function. The potential field algorithm is improved by using fuzzy potential field algorithm and, path planning in various environment has been done.