Mobile Robot Real-time Path Planning Based on Virtual Targets Method

This paper presents a virtual targets-based method for mobile robot path planning in dynamical unknown environments. Fuzzy control is used to judge the status of the obstacles and to generate proper virtual targets for mobile robot to follow. Strategies for formulating the fuzzy rule sets for virtual targets have been proposed. The control parameters of mobile robot, linear velocity and angular velocity, are calculated based on the attractive force generated by the virtual targets using Virtual Force Field method. The repulsive force generated by obstacles is omitted in the virtual targets-based method. The mobile robot may detour obstacles by moving toward virtual targets. Experimental results show that the algorithm can generate a collision-free path in a dynamical unknown environment with stationary and moving obstacles. Furthermore, it can be implemented in real time.