Obstacle avoidance study for mobile robot in unknown environment
Jinyin Chen · Transducer and Microsystem Technologies · 2011
Aiming at the problem of obstacle avoidance for mobile robot,AS-R mobile robot is used as experimental platform.A novel approach based on improved artificial potential field and fuzzy control is presented.For unknown and static environment,artificial potential field is adopted for real-time path planning.Aiming at dynamic obstacle nearby,the method of fuzzy logic is used for collision avoidance.As for potential field method trusting degree rotating angle is introduced,depending on sonars information.Robot's moving orientation is determined by both two methods and the trusting degree.Combining these two methods,high performance of robust and flexible for obstacle avoidance can be achieved.Simulation experiments and AS-R robot obstacle avoidance experiments verify the effectiveness of the proposed approach.