Research On Multi - Mobile Robot Path Planning Based On Fuzzy Artificial Potential Field Method

Path planning is one of the most important problems in the research of intelligent robot. In the course of finding a optimal path from the starting point to the target point for robots, the path planning for multi-robot demands each robot avoid obstacles and should not conflict and collide with other robots. On the basis of analyzing existing path planning methods, this paper proposes a path planning method based on fuzzy artificial potential field, and Simulation and experimental verification are carried out in the condition of single robot. Based on above, a conflict resolution strategy is put forward, and the main research contents are as follows:Firstly, this paper introduces the history of development of robots and current research status of robot path planning, and then analyzes the disadvantages of traditional artificial potential field method, such as target inaccessible and likely to fall into local minimum point. In order to solve these problems, this paper takes full account of several factors that influence path planning and designs an algorithm which combines fuzzy control with artificial potential field method. To avoid fuzzy rules explosion due to excessive input variables, the fuzzy control system is hierarchical.Secondly, to solve the conflict problem during multi-robot path planning, path planning system combines priority strategy with speed adjustment strategy and enacts different traffic rules according to relative positions among robots. Robots adopt different strategies in the light of different circumstances, thus reducing the path length and planning time of path planning.Lastly, simulation and experimental verification of the path planning algorithm are carried out respectively in single robot and multi-robot. The fuzzy based artificial potential field algorithm is encapsulated into COM component. The motion control program of robots is written in VC++and the robots’motion information is displayed on platform interface. On the basis of single robot path planning, the communication process is implemented to realize information sharing and exchange. The system adopts conflict resolution strategy to accomplish multi-robot path planning.