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Study on the Collision Free Optimal Path for Multi Mobile Robots Using Fuzzy system and Potential Field  

Yi, Chong-Ho (Dept. of Digital Electronics, Inha Technical College)
Kim, Dong-W. (Dept. of Digital Electronics, Inha Technical College)
Publication Information
전자공학회논문지 IE / v.47, no.2, 2010 , pp. 66-72 More about this Journal
Abstract
In an autonomous multi-mobile robot environment, optimal path planning without collision which connects the beginning and ending point is essential and primary important. Many mobile robots should move autonomously without prior or given information about obstacles which are stationary or dynamic. Collision free optimal path planning for multi mobile robots is proposed in this paper. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner using potential field method selects the shortest path from each robot to its own target. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. To verify performance of this method, several simulation-based experimental are done and their results are discussed. These results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.
Keywords
Multi-mobile robot systems; collision avoidance; potential fields; fuzzy logic;
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Times Cited By KSCI : 2  (Citation Analysis)
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