A simple path planning system using fuzzy rules and a potential field

This paper proposes a simple path planning system using fuzzy rules and a potential field. As an example, we took the problem of backing up a truck to a loading dock which Nguyen and Widrow originally used. We propose a new hybrid method of fuzzy control rules and a potential field for a vehicle navigation and control in the presence of obstacles. This technique has the following merits: (1) As long as we have the map information, we can control a truck to the goal point. (2) We can consider the operator´s technique because of using fuzzy logic for a vehicle control. (3) The control method is very simple. The system can successfully back a truck up to the goal point by the following two ideas: (1) a potential field that peaks at the surface of obstacles and contains no spurious local minima. (2) use of simple fuzzy rules