Motion planning for multiple obstacles avoidance of autonomous mobile robot using hierarchical fuzzy rules

This paper presents the motion planning for an autonomous mobile robot to move toward the goal avoiding multiple moving obstacles. The autonomous robot can control itself with both velocity and steering controls decided by the fuzzy algorithm. The algorithm has a hierarchical structure which consists of three levels involving fuzzy logic modules. In the lower level of the algorithm, the control inputs of velocity and steering are decided independently. In the middle level, the module called fuzzy balancer adjusts and combines these inputs in order not to conflict each other. In the upper level, the control input to the goal and multicontrol inputs for multiple obstacles are combined to achieve the desired motion. In this paper, we propose the algorithm of hierarchical fuzzy rules and show the simulation results