Motion Planning of Mobile Robot Based on Artificial Potential Field in Fuzzy Space
Chaofeng Sun · Journal of Nanchang University · 2010
In order to study the motion planning method of mobile robot in multi-obstacle environment,the exponential function is selected as the potential field function to model the objection and obstacles in the environment.Aiming at the local minimum possibly emerged in the motion procedure,an escape method has been proposed.Then,a fuzzy membership function is proposed to model the dynamic obstacles.After that,a fuzzy space and artificial potential field is built based on it.Finally,a real-time optimal motion planning algorithm adapted to dynamic environment is proposed,which makes for the motion planning problem in unknown,dynamic and uncertainty environment.Simulations show that the modeling and motion planning method are feasible.