Fuzzy controller for path planning research of mobile robot

In order to overcome the inherent defects of the traditional artificial potential field, a new algorithm which has a fuzzy controller is adopted. In this algorithm, repulsive field is improved. Fuzzy logic controller is applicable, when there are only two fuzzy inputs and one output. A repulsive gain coefficient K is introduced to the repulsive potential function, which indicates the importance of the obstacles around the mobile robot. The gain coefficient of repulsion in artificial potential field is controlled by the distance between robot and obstacles and the circumstances type of mobile robot. K can be dynamically adjusted by the fuzzy rules at the same time. In this way, if the repulsion is changed, this algorithm will have better suitability. Compared with conventional methods, results of the simulation show that the proposed algorithm has advantages of less calculation and better robustness, and can make sure of the safe distance between mobile robot and obstacles.