A fuzzy based local minima avoidance path planning in autonomous robots

Autonomous mobile robot path planning is considered as a complex task in unknown, highly uncertain and dynamic environments. The presence of diverse and uncertain objects present in the environment makes the autonomous navigation of a mobile robot a difficult and expensive task. Artificial potential...

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Bibliographic Details
Published in:International journal of information technology (Singapore. Online) 2021-02, Vol.13 (1), p.33-40
Main Authors: Teli, Tawseef Ahmed, Wani, M. Arif
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computer Imaging
Computer Science
Image Processing and Computer Vision
Machine Learning
Original Research
Pattern Recognition and Graphics
Software Engineering
Vision
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Summary:Autonomous mobile robot path planning is considered as a complex task in unknown, highly uncertain and dynamic environments. The presence of diverse and uncertain objects present in the environment makes the autonomous navigation of a mobile robot a difficult and expensive task. Artificial potential field (APF) provides a good and easy solution to the path planning problem resulting in a collision free navigation of a mobile robot from source to destination. One of the inherent problems in APF based path planning is the Local Minima problem. This paper provides a fuzzy based approach to path planning in addition to steering a robot out of local minima configuration with a comparative analysis of some non-fuzzy approaches.
ISSN:2511-2104
2511-2112
DOI:10.1007/s41870-020-00547-0