Collision Avoidance Path Planning for Multi-Mobile Robot System : Fuzzy and Potential Field Method Employed
Chang-Hwan Ahn, Dong-Won Kim · Journal of the Korean Institute of Illuminating and Electrical Installation Engineers · 2010
In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.