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The Korean Institute of Electrical Engineers (대한전기학회)
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Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method

퍼지 포텐셜 필드를 이용한 이동로봇의 동적 경로 계획

  • 우경식 (인하대학교 로봇공학) ;
  • 박종훈 (인하대학교 로봇공학) ;
  • 허욱열 (인하대학교 공과대학 전기공학과)
  • Received : 2011.12.14
  • Accepted : 2012.01.17
  • Published : 2012.02.01
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Abstract

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.

Keywords

References

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