Dynamic motion planning for autonomous mobile robot using fuzzy potential field

A new fuzzy potential field is presented for autonomous mobile robot motion planning with dynamic environments. Two fuzzy models have been used to accomplish the total attractive and repulsive forces acting on the mobile robot. The proposed fuzzy potential field motion planning was investigated base...

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Bibliographic Details
Published in2009 6th International Symposium on Mechatronics and its Applications pp. 1 - 6
Main Authors Kareem Jaradat, Mohammad Abdel, Garibeh, Mohammad H., Feilat, Eyad A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.03.2009
Subjects
Convergence
Educational institutions
Fuzzy logic
Mechanical engineering
Mechatronics
Mobile robots
Motion planning
Path planning
Robot motion
Technology planning
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Summary:A new fuzzy potential field is presented for autonomous mobile robot motion planning with dynamic environments. Two fuzzy models have been used to accomplish the total attractive and repulsive forces acting on the mobile robot. The proposed fuzzy potential field motion planning was investigated based on several conducted simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations the proposed approach was able to provide the robot with collision free path to softly land on the moving target and solved the local minimum problem within any stationary or dynamic environment compared to other potential field based approaches.
ISBN:1424434807
9781424434800
DOI:10.1109/ISMA.2009.5164829