Mobile robot autonomous path planning based on fuzzy logic and filter smoothing in dynamic environment

Yupei Yan, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

12 Citations (Scopus)

Abstract

The mobile robot has been one of the hottest fields in recent years, it has been widely applied in the most critical and efficient occasions in the industry, meanwhile, path planning becomes a frontier and interesting research topic for the mobile robot. In this paper, firstly mobile robot is introduced, some universal path planning algorithms of the mobile robot are reviewed, then a fuzzy logic and filter smoothing based on the data from the laser scan sensor is proposed, the path planning and autonomous obstacle avoidance based on this algorithm is emphasized because it can automatically find the best path according to the size and position of gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and obstacle avoidance algorithms are tested on this mobile robot, the testing results show this algorithm has the advantage of responding quickly, global optimized and hardware resource saved compared with other algorithms, it is suitable for the mobile robot that is designed on the embedded system and it can meet our designed requirement.
Original languageEnglish
Title of host publicationProceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
PublisherIEEE
Pages1479-1484
Number of pages6
Volume2016-September
ISBN (Electronic)9781467384148
DOIs
Publication statusPublished - 27 Sep 2016
Externally publishedYes
Event12th World Congress on Intelligent Control and Automation, WCICA 2016 - Guilin, China
Duration: 12 Jun 201615 Jun 2016

Conference

Conference12th World Congress on Intelligent Control and Automation, WCICA 2016
Country/TerritoryChina
CityGuilin
Period12/06/1615/06/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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