Local Navigation Based on Improved Artificial Potential Field Approach Combining Fuzzy Logic
Manlu Liu · Journal of Southwest University of Science and Technology · 2012
Aiming at the dead spots for artificial potential field method,and the more complex problems of local obstacles environment,taking fuzzy logic and improved artificial potential field's combination method,the parallel processing structure was presented,combining a fuzzy controller with artificial potential.Based on the static target position and obstacle distance information from ultrasonic sensors,the path planning of the artificial potential field in a stable environment and the fuzzy controller in a dangerous environment are realized,and the mobile robot can arrive at the scheduled target.And the Mobotsim simulation software verifies the feasibility and effectiveness of the algorithm.