A New Global Fuzzy Path Planning and Obstacle Avoidance Scheme for Mobile Robots
نویسندگان
چکیده
In this paper, a new global path planning and obstacle avoidance scheme for mobile robot is proposed. The key to avoiding the obstacle is to fuzzify them and construct a fuzzy graph from the environment. Then, based on human performance a set of fuzzy rules is defined for robot navigation using these fuzzy sets and sub-optimal paths to the goal are generated. A fuzzy rule is defined for avoiding each obstacle and a new obstacle can be added to the fuzzy graph at any time. Hence, the fuzzy rules can be updated with the changes in the environment. Unlike other fuzzy path planning approaches, this scheme does not fall into local minima. Simulation results are also presented to evaluate the performance of the new scheme.
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