Dynamic Behavior Path Planning Of Mobile Robot Based On Fuzzy Logic Control

Path planning is an important branch of mobile robot research. Strategy based on the dynamic behavior in two-dimensional unknown environment provides a good solution for mobile robot path planning. Dynamic behavior path planning of mobile robot based on fuzzy logic control is researched deeply, so that with only part of the environment information the mobile robot can travel from the initial goal to the target without collision in the obstacle environment.Firstly, the thesis makes a summary on the direction and trends of mobile robot, and then the P3-DX platform is introduced, and on the basis, mobile robot position and mobile robot movement behavior control and mobile robot path planning are expatiated.In the research of path planning, dynamic behavior path planning of mobile robot based on fuzzy logic control is adopted. Dynamic behavior path planning of mobile robot based on fuzzy logic control fuses the path planning strategy based on behavior and the algorithm of fuzzy logic control, in which, first of all, motion planning is mainly decomposed into avoidance behavior and trending goal behavior according to path planning strategy based on behavior, and then avoidance behavior controller and trending goal behavior controller are designed for path planning with the algorithm of fuzzy logic control. The simulation of avoidance behavior controller and avoidance behavior controller shows the effectiveness of control algorithm. Also after the integration of the controller output, the simulation of basic movement behavior and path planning demonstrates that a robot can plan a better path to avoid obstacles and reach the goal, which proves the theory and design method validity.