Cover
Vol. 11 No. 1 (2015)

Published: July 31, 2015

Pages: 32-41

Original Article

Path Planning of Mobile Robot Using Fuzzy- Potential Field Method

Alaa A. Ahmed 1 Turki Y. Abdalla Ali A. Abed (IEEE Member)
1Department of Electrical Engineering University of Basrah, Basrah,Iraq
History
  • Received: May 31, 2015
  • Available Online: July 31, 2015
DOI

https://doi.org/10.37917/ijeee.11.1.4

Abstract

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller to solve drawbacks of artificial potential field method such as local minima problems, make an effective motion planner and improve the quality of the trajectory of mobile robot.

Keywords

References

  1. R. Kala, A. Shukla and R. Tiwari, “Fusion of probabilbotic path planning”, Springer DOI, Artificial Intelli-
  2. A. Stentz, “Optimal and Efficient Path Planning for Partially-Known Environments”, In Proceedings IEEE May 1994.
  3. W. Donald Smart and L. Kiebling, “Effective Reinforcement Learning for Mobile Robots”, Proceedings of the 2002. IEEE International Conference on Robot3410, 2002.
  4. E. Rimon, D. Koditschek, “Exact Robot Navigation Using Artificial Potential Functions”, IEEE Transactions on Robotics and Automation, Vol. 8, No. 5, pp. 501-518, 1992.
  5. G. DeMuth and S. Springsteen, “Obstacle Avoidance Using Neural Networks “, Proceedings of the (1990) Symposium Conference, pp. 213 – 215, 1990.
  6. H. Seraji and A. Howard, “Behavior-Based Robot Navigation on Challenging Terrain: A Fuzzy Logic Approach”, IEEE Transactions on Robotics and Automation, Vol. 18, No. 3, pp. 208 – 321, 2002.
  7. H. Miao, “Robot Path Planning in Dynamic Environments Using a Simulated Annealing Based Approach”, M.Sc. Thesis, Queensland University of Technology, March 2009
  8. L. Pimenta1, A. Fonseca, G. Pereira, “On Computing Complex Navigation Functions” Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005
  9. Khatib, O., "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots", International Journal of Robotic Research, vol. 5, pp.90-98, 1986.
  10. L. Chengqing, M. HAngJr, H. Krishnan, L. Yong, “Virtual Obstacle Concept for Local-minimumrecovery in Potential-field Based Navigation” Proceedbotics & Automation San Francisco, CA • April 2000
  11. Ge, S. S. and Cui, Y. J., "Dynamic Motion Planning for Mobile Robots Using Potential Field Method" Autonomous Robots, vol. 13, pp.207-222, 2002.
  12. Ge, S. S. and Cui, Y. J., "New Potential Functions for Mobile Robot Path Planning" IEEE Transactions on Robotics and Automation, vol. 16, pp. 615-620, 2002.
  13. Volpe, R. and Khosla, P., "Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments", IEEE Transactions on Systems, Man and Cybernetics, vol. 20, pp. 1423-1436, 1990.
  14. Lee, L.-F., "Decentralized Motion Planning Within an Artificial Potential Framework (APF) for Cooperative Payload Transport by Multi-Robot Collectives.," MSc Thesis, State University of New York at Buffalo, NY, Buffalo, 2004.
  15. P. Vadakkepat, K. C. Tan, and W. Ming ‐ Liang, “Evolutionary Artificial Potential Fields and their Application in Real Time Robot Path Planning”, Congress on Evolutionary Computation (2000), vol. 1 pp. 256 – 263.
  16. M. Castaneda, J. Savage, A. Hernandez and F. ArambulaCosío, “Local Autonomous Robot Navigation Us953-7619-01-5, InTech,
  17. J. Gue, Y. Gao and G. Cui, “Path planning of mobile Robot base on Improved Potential Field”, Information Technology Journal vol. 12, No. 11, 2013
  18. G. Li, A. Yamashita and H. Tamura, “An Efficient Search Method for Robot Path Planning” Proceedings of the 2000 IEEE International Conference on Robotics & Automation San Francisco, CA • April 2000
  19. S. Weijun, M. Rui and Y. Chongchong, “A Study on Soccer Robot Path Planning with Fuzzy Artificial Potential Field”, Proceedings of the 2010 International Conference on Computing, Control and Industrial En-
  20. M. HAMANI, A. HASSAM, “Mobile Robot Navigation in Unknown Environment Using Improved APF Method”, the 12 th international Arab Conference on information Technology ACIT’2012 Dec. 10-13
  21. Y. Koren and J. Borenstein “Potential Field Methods and Their Inherent Limitations for Mobile Robot Navibotics and Automation , Sacramento, California, April 7-12, pp. 1398-1404,1991.
  22. V. Patel , V. singh and R. H.Acharya, “Design of FPGA-based All Digital PID Controller for Dynamic Systems”, International Journal of Advanced Research neering Vol. 1, Issue 2, August 2012
  23. M. Gupta, L. Behera, K. S. Venkatesh, “PSO based modeling of Takagi-Sugeno fuzzy motion controller for dynamic object tracking with mobile platform,” Proceedings of IEEE the International Multi conference on Computer Science and Information Technolo-
  24. K. Ramanathan , V.M. Periasamy , M. Pushpavanam , U. Natarajan “ Particle Swarm Optimization of hardness in nickel diamond electro composites” International Scientific Journal 2009 vol. 1 issue 4 pp. 232236, 2009.