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Autonomous mobile robot dynamic motion planning using hybrid fuzzy potential field

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Abstract

A new fuzzy-based potential field method is presented in this paper for autonomous mobile robot motion planning with dynamic environments including static or moving target and obstacles. Two fuzzy Mamdani and TSK models have been used to develop the total attractive and repulsive forces acting on the mobile robot. The attractive and repulsive forces were estimated using four inputs representing the relative position and velocity between the target and the robot in the x and y directions, in one hand, and between the obstacle and the robot, on the other hand. The proposed fuzzy potential field motion planning was investigated based on several conducted MATLAB simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations that the proposed approach was able to provide the robot with collision-free path to softly land on the moving target and solve the local minimum problem within any stationary or dynamic environment compared to other potential field-based approaches.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Jordan University of Science and Technology, Irbid, Jordan

    Mohammad Abdel Kareem Jaradat

  2. Department of Electrical Power Engineering, Hijjawi Faculty of Engineering Technology, Yarmouk University, Irbid, Jordan

    Mohammad H. Garibeh & Eyad A. Feilat

Authors
  1. Mohammad Abdel Kareem Jaradat
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  2. Mohammad H. Garibeh
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  3. Eyad A. Feilat
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Correspondence to Mohammad Abdel Kareem Jaradat.

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Jaradat, M.A., Garibeh, M.H. & Feilat, E.A. Autonomous mobile robot dynamic motion planning using hybrid fuzzy potential field. Soft Comput 16, 153–164 (2012). https://doi.org/10.1007/s00500-011-0742-z

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  • DOI: https://doi.org/10.1007/s00500-011-0742-z

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