A fuzzy logic approach to progressive path planning of mobile objects

The present paper deals with the path planning of a mobile object and optimisation of the locally generated safe path. It proposes a trajectory generation algorithm using fuzzy logic controllers in both directions propagation and obstacles avoidance. Associated with a workspace modelling, the algorithm tries to obtain a quasi-optimal global safe path for an autonomous mobile object which has to move in a totally unknown workspace in order to reach a target. The outcome of this study, shown through an insightful example, are about the importance of the perception range and the improvement through appropriate design of the decision table in this quest of optimisation.