Path Planning and Navigation Utilizing Fuzzy Logic Control

초록

The mobile robot must move to the desired destination safely by avoding the known or unknown obstacles in a certain environment. Therefore, the process of path planning is necessary to find the safe and rapid optimum path to the destination any away from the obstacles, using the map information established with the environmental perception, and the process of path tracking is necessary to follow the given path. Thus, the system proposed in this paper was constructed in order that the mobile robot can obtain the optimum path byy utilizing the information according to the environmental map, based on the Global Path Planning. It was made possible by using the Fuzzy Logic Control. Also, the validity of the algorithm proposed was proven through the trial experiment.