Fuzzy Logic-Based Trajectory Planning for Mobile Robots in an Uncertain and Complex Environment

2023 2nd International Conference on Computational Systems and Communication (ICCSC) Pub Date : 2023-03-03 DOI:10.1109/ICCSC56913.2023.10142983

Mahyar Teymournezhad, O. K. Sahingoz

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引用次数: 1

Abstract

Mobile robot trajectory planning is a crucial aspect of robot navigation and control. It involves the creation of algorithms and strategies that enable a robot to move from one location to another while avoiding obstacles, following a predetermined path, and maintaining a desired speed and acceleration. However due to the physical constraints of the application theatre, it is really trivial issue to construct a path due to the missing and uncertain data of the environment. Fuzzy logic is a mathematical system that permits the representation and manipulation of imprecise or uncertain data. It is based on fuzzy sets, which permit continuous rather than discrete values, and fuzzy rules, which permit the representation of complex relationships between variables. Therefore, in this paper we aimed to develop a fuzzy logic-based trajectory planning algorithm for mobile robots in a dynamic and uncertain environment. Experimental results showed that the proposed approach reaches applicable trajectory paths for complex environments.

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不确定复杂环境下基于模糊逻辑的移动机器人轨迹规划

移动机器人的轨迹规划是机器人导航和控制的一个重要方面。它涉及创建算法和策略，使机器人能够从一个位置移动到另一个位置，同时避开障碍物，沿着预定的路径，并保持所需的速度和加速度。然而，由于应用场景的物理限制，由于环境数据的缺失和不确定，构建路径确实是一个微不足道的问题。模糊逻辑是一种数学系统，它允许对不精确或不确定的数据进行表示和操作。它基于模糊集和模糊规则，模糊集允许连续值而不是离散值，模糊规则允许变量之间复杂关系的表示。因此，在本文中，我们旨在开发一种基于模糊逻辑的移动机器人在动态和不确定环境中的轨迹规划算法。实验结果表明，该方法在复杂环境下达到了适用的轨迹路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2023 2nd International Conference on Computational Systems and Communication (ICCSC)

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