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

Wei Jen Chen, Bing Gang Jhong, Mei Yung Chen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


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
Issue number6
Publication statusPublished - 2016 Dec 1


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

ASJC Scopus subject areas

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


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