An Optimized Path Planning for Wheeled Robot in Obstacle Environments

Abstract

In this work, we have proposed in unknown setting, there is an impediment avoidance for a mobile robot based on the fuzzy logic control. Therefore, the wheeled mobile robot is equipped with 3 wheels, one steering wheel and two fixed wheels and mounted on the same axis. It functions to lift from a starting point to a target position. For this, our proposed algorithm creates one or more imaginary target and applies a fuzzy logic control system, which is adopted by a rule table that is induced from two inputs data (the distance and the angle between the robot and the target) and two outputs data (the angle orientation and velocity of the steer wheel). Experiential outcomes show how effective and functional the suggested algorithm it is.