Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance.

Journal: Computational intelligence and neuroscience
Published Date: Mar 30, 2016

Abstract

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.

Authors

  • Jong-Wook Park
    Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.
  • Hwan-Joo Kwak
    Powertrain Platform Team, Hyundai Autron Co., Ltd., Mtek IT Tower, No. 344, Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do 463-400, Republic of Korea.
  • Young-Chang Kang
    Department of Computer Engineering, Gachon University, 1342 Seongnamdaero, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea.
  • Dong W Kim
    Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-gu, Incheon 402-752, Republic of Korea.

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