Design and implementation of fuzzy trajectory following and planning control for mobile robots

摘要

Fuzzy trajectory following and planning control for mobile robots are examined. A fuzzy logic controller is designed for a trajectory following problem and a fuzzy logic decision mechanism is proposed for the trajectory planning with obstacles in a known environment. A car-like mobile robot system is developed to perform the implementation, where the vision system is set up to detect the working environment and obstacles. Both computer simulations and real-time experimental results demonstrate that the proposed fuzzy trajectory following and planning controller can successfully make the mobile robot online execute the trajectory following and planning problems even in an environment with obstacles.