scholarly journals Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Jong-Wook Park ◽  
Hwan-Joo Kwak ◽  
Young-Chang Kang ◽  
Dong W. Kim
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Fuzzy Controller ◽  
Field Method ◽  
Linguistic Variables ◽  
Control Logic ◽  
Potential Field Method ◽  
Repulsive Forces

An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential field method (AFPFM)—that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

Mobile Robot Obstacle Avoidance Using Potential Field Method

2014 ◽  
Vol 20 (10) ◽  
pp. 1976-1979
Author(s):  
Bayanjargal Baasandorj ◽  
Aamir Reyaz ◽  
Deok Jin Lee ◽  
Kil To Chong
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Field Method ◽  
Potential Field Method

scholarly journals Path Planning of Mobile Robot Using Fuzzy-Potential Field Method

2015 ◽  
Vol 11 (1) ◽  
pp. 32-41
Author(s):  
Alaa Ahmed ◽  
Turki Abdalla ◽  
Ali Abed
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Potential Field ◽  
Fuzzy Logic Controller ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Artificial Potential Field Method

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller to solve drawbacks of artificial potential field method such as local minima problems, make an effective motion planner and improve the quality of the trajectory of mobile robot.

A Mobile Robot Obstacle Avoidance Method Based on Improved Potential Field Method

2013 ◽  
Vol 467 ◽  
pp. 496-501 ◽  
Author(s):  
Hao Wang ◽  
Lian Yu Zhao ◽  
Wei Chen
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Simulation Analysis ◽  
Field Method ◽  
Artificial Potential Field ◽  
Position Information ◽  
Unknown Environment ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Proposing an obstacle avoidance method for mobile robot under unknown environment, which makes use of multiple ultrasonic sensors coordinating with each other and collects position information of obstacles followed by information fuzzy processing, applies artificial potential field method with improved potential function to project the travel path of the robot. It has solved the "deadlock" problem of the traditional artificial potential field method and achieved obstacle avoidance of mobile robot under unknown environment. By simulation analysis, robot obstacle avoidance can be implemented flexibly using this method.

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