Design of Path Planning and Obstacle Avoidance for a Wheeled Mobile Robot

Wei Jen Chen, Bing Gang Jhong, Mei Yung Chen

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper proposed a path tracking method for wheeled mobile robot (WMR). This method includes path planning and controller design. In path planning, using B-spline instead of A* algorithm to create smooth and obstacle-avoidance path, so that the possibility of collision can be reduced statistically. In controller design, genetic algorithm (GA) and fuzzy logic control (FLC) are combined together for the velocity control for WMR, which is supposed to move in a certain environment. The suitable membership function of FLC according to the feature of environment, such as distance and angle of WMR, is based on the B-spline path, and the input and output of FLC can be adjusted by GA. Therefore, the WMR can move along the planned path steady, which means our method has good performance.

Original languageEnglish
Pages (from-to)1080-1091
Number of pages12
JournalInternational Journal of Fuzzy Systems
Volume18
Issue number6
DOIs
Publication statusPublished - 2016 Dec 1

Fingerprint

Obstacle Avoidance
Path Planning
Collision avoidance
Motion planning
Mobile Robot
Fuzzy Logic Control
Mobile robots
Fuzzy logic
B-spline
Controller Design
Splines
Path
Genetic algorithms
Genetic Algorithm
Path Tracking
Velocity control
Controllers
A* Algorithm
Membership functions
Membership Function

Keywords

  • A* algorithm
  • Fuzzy logic control
  • Genetic algorithm
  • Mobile robot

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

Cite this

Design of Path Planning and Obstacle Avoidance for a Wheeled Mobile Robot. / Chen, Wei Jen; Jhong, Bing Gang; Chen, Mei Yung.

In: International Journal of Fuzzy Systems, Vol. 18, No. 6, 01.12.2016, p. 1080-1091.

Research output: Contribution to journalArticle

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