Research on Dynamic Fuzzy Artificial Potential Field Method for Mobile Robot Path Planning
Min Zuo · Jisuanji fangzhen · 2011
For traditional artificial potential field(APF) method,the local minima problem exists and can not satisfy the requirement of real-time for path planning of mobile robots in the multi-obstacle dynamic environment.A new APF method based on dynamic fuzzy control is proposed in this paper.The potential field force function is modified by introducing the velocity vector.The coefficients of potential field of repulsive force are adjusted by fuzzy control method.A fast real-time self-adaptive path planning method with dynamic multi-obstacle is realized.The simulation results show that the method is effective and feasible,and can get much better performance of path planning in typical location relationship and special motion relationship.