ANFIS generated dynamic path planning for a mobile robot to track a randomly moving target in a 3-D space with obstacle avoidance

This article addresses the dynamic path planning for mobile robots in a 3-D space with obstacle avoidance and moving target tracking. A new mathematical approach to calculating the dynamic path in a 3-D space is proposed. An adaptive network-based fuzzy inference system (ANFIS) with the use of the mathematical results is then implemented to generate automatically the dynamic path of the mobile robot. This approach allows implementing faster decision-making and can be seen as an efficient algorithm to avoid obstacles and to track moving targets. Simulation results validate the performance of the proposed scheme.