Application of Fuzzy Neural Network in Parameter Optimization of Mobile Robot Path Planning Using Potential Field

This paper discussed a new mobile robot path planning algorithm. It analyzed the traditional path planning algorithm that employs artificial potential field and fuzzy logic, and then develop a new method combing artificial potential field, neural network and fuzzy Logic, which realized real-time obstacle recognition and smooth motion in dynamic environment. This algorithm improves the traditional artificial potential field performance, while reducing its drawbacks\´ influence effectively. Experiment and simulation shows this method can make the robot avoid obstacles effectively and avoid being trapped in "dead area".