Mobile Robot Path Planning Based On Fuzzy Control

Mobile robot is an important branch in the field of robots.In recent years,with the constant development of robot performance,its work environment has become more complex.In the use of mobile robot detection,reconnaissance and navigation,because of the complexity of calculation,control of real-time and the uncertainty of environmental,the path planning has become one of the core content of the mobile robot research.By analyzing and summarizing a large number of related literature,a mobile robot path planning method based on improved fuzzy control is proposed according to the shortage in continuous obstacle environment.A mobile robot navigation control experiment system of multiple functions is built under an unstructured work environment.The main contents of this paper are as follows:In the hardware aspect,a kind of wheeled mobile robot is designed based on multi-sensor which can applied to mobile robot behavior control and path planning.In the software aspect,a fuzzy algorithm of obstacle avoidance with speed feedback is proposed to improve the performance of obstacle avoidance for mobile robots in continuous obstacle environment based on the advantage of the original fuzzy algorithm.At the same time,put the improved fuzzy obstacle avoidance strategy into the behavior-based control technology and make obstacle avoidance as an independent unit.Under the method of behavior-based,the path planning is resolved into fuzzy obstacle avoidance,cruise,tend to target,escape and other relatively independent behavior.Through the interaction of mobile robot and environment each behavior could use the competition mechanism to control the robot and make the robot to accomplish a specific behavior in the moment,finally realizes the path planning.Further,in order to improve the fault tolerance of mobile robot and ensure tasks are successful completed,graceful degradation strategy is introduced to the robot in the case of control commands metamorphism or failure of the important information,it effectively avoid the deterioration of the overall performance.Finally,the simulation experiment is carried out in a virtual environment platform called MobotSim,relative reasonable input and output membership functions are given by repeated adjustment of the experimental results.Then the wheeled mobile robot based on multi-sensor is tested under the real environment.Experimental results show that the proposed method enable a mobile robot to reach the target position successfully andoptimize the movement path,it has good robustness and effectiveness.