Dynamic motion planning for autonomous mobile robot using fuzzy potential field

Author

Jaradat, Mohammad ; Garibeh, Mohammad H. ; Feilat, Eyad A.

Author_Institution

Dept. of Mech. Eng., Jordan Univ. of Sci. & Technol., Irbid, Jordan

fYear

2009

fDate

23-26 March 2009

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

fuzzy control; mobile robots; path planning; attractive force; autonomous mobile robot; collision free path; dynamic motion planning; fuzzy models; fuzzy potential field; local minimum problem; repulsive force; Convergence; Educational institutions; Fuzzy logic; Mechanical engineering; Mechatronics; Mobile robots; Motion planning; Path planning; Robot motion; Technology planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on

Conference_Location

Sharjah

Print_ISBN

978-1-4244-3480-0

Electronic_ISBN

978-1-4244-3481-7

Type

conf

DOI

10.1109/ISMA.2009.5164840

Filename

5164840