Autonomous mobile robot dynamic motion planning using hybrid fuzzy potential field |
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| Authors: | Mohammad Abdel Kareem Jaradat Mohammad H Garibeh Eyad A Feilat |
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| Affiliation: | (1) Department of Mechanical Engineering, Faculty of Engineering, Jordan University of Science and Technology, Irbid, Jordan;(2) Department of Electrical Power Engineering, Hijjawi Faculty of Engineering Technology, Yarmouk University, Irbid, Jordan |
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| Abstract: | A new fuzzy-based potential field method is presented in this paper for autonomous mobile robot motion planning with dynamic
environments including static or moving target and obstacles. Two fuzzy Mamdani and TSK models have been used to develop the
total attractive and repulsive forces acting on the mobile robot. The attractive and repulsive forces were estimated using
four inputs representing the relative position and velocity between the target and the robot in the x and y directions, in one hand, and between the obstacle and the robot, on the other hand. The proposed fuzzy potential field motion
planning was investigated based on several conducted MATLAB simulation scenarios for robot motion planning within realistic
dynamic environments. As it was noticed from these simulations that the proposed approach was able to provide the robot with
collision-free path to softly land on the moving target and solve the local minimum problem within any stationary or dynamic
environment compared to other potential field-based approaches. |
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