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http://dx.doi.org/10.5370/KIEE.2012.61.2.291

Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method  

Woo, Kyoung-Sik (인하대학교 로봇공학)
Park, Jong-Hun (인하대학교 로봇공학)
Huh, Uk-Youl (인하대학교 공과대학 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.61, no.2, 2012 , pp. 291-297 More about this Journal
Abstract
In this paper, potential field algorithm was used for path planning in dynamic environment. This algorithm is used to plan a robot path because of its elegant mathematical analysis and simplicity. However, there are some problems. The problems are problem of collision risk, problem of avoidance path, problem of time consumption. In order to solve these problems, we fused potential field with fuzzy system. The input of the fuzzy system is set using relative velocity and location of robot and obstacle. The output of the fuzzy system is set using the weighting factor of repulsive potential function. The potential field algorithm is improved by using fuzzy potential field algorithm and, path planning in various environment has been done.
Keywords
Dynamic path planning; Fuzzy system; Potential field; Obstacle avoidance; Mobile robot;
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