Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of expert...

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Veröffentlicht in:Computational Intelligence and Neuroscience 2016-01, Vol.2016 (2016), p.108-120
Hauptverfasser: Kim, Dong W., Kang, Young-Chang, Kwak, Hwan-Joo, Park, Jong-Wook
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Artificial Intelligence
Fuzzy control
Fuzzy Logic
Intelligence
Linguistics
Mathematical models
Methods
Mobile robots
Motion
Obstacle avoidance
Potential fields
Robotics - methods
Robots
Sensors
Technology application
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Zusammenfassung:An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential field method (AFPFM)—that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.
ISSN:1687-5265
1687-5273
DOI:10.1155/2016/6047906