Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance.
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.
Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea.
Jong-Wook
JW
Park
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.
Hwan-Joo
HJ
Kwak
Department of Computer Engineering, Gachon University, 1342 Seongnamdaero, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea.
Young-Chang
YC
Kang
Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-gu, Incheon 402-752, Republic of Korea.
Dong W
DW
Kim
D000465:Algorithms; D001185:Artificial Intelligence; D017143:Fuzzy Logic; D012371:Robotics / Q000379:methods*