A fuzzy based local minima avoidance path planning in autonomous robots
Authors: Teli, T.A. and Wani, M.A.
Journal: International Journal of Information Technology (Singapore)
Volume: 13
Issue: 1
Pages: 33-40
eISSN: 2511-2112
ISSN: 2511-2104
DOI: 10.1007/s41870-020-00547-0
Abstract:Autonomous mobile robot path planning is considered as a complex task in unknown, highly uncertain and dynamic environments. The presence of diverse and uncertain objects present in the environment makes the autonomous navigation of a mobile robot a difficult and expensive task. Artificial potential field (APF) provides a good and easy solution to the path planning problem resulting in a collision free navigation of a mobile robot from source to destination. One of the inherent problems in APF based path planning is the Local Minima problem. This paper provides a fuzzy based approach to path planning in addition to steering a robot out of local minima configuration with a comparative analysis of some non-fuzzy approaches.
Source: Scopus