Fuzzy Enhanced Artificial Potential Field-based Mobile Car Path Planning

Abstract

A significant area of study in the field of autonomous driving technology is path planning. Artificial potential field approach is a popular technique to analyze local path planning, however, its conventional algorithm suffers the flaws of local optimal and unachievable goals. In this study, the artificial potential field method's repulsive force field expression is enhanced, and the fuzzy control method is integrated with the artificial potential field method. Through the design of two fuzzy controllers, the driving deflection angle and driving speed are controlled in real time, which helps the mobile car to overcome the defects of the conventional artificial potential field method in some typical position relationships, travel more safely and smoothly to its destination, and create efficient path planning. The Matlab simulation results demonstrate the improved algorithm's ability to address the issues of an unreachable objective and a local optimum in a few common path planning places, and also shows advantages in obstacle avoidance safety.