A Fuzzy Logic Path Planning Algorithm Based on Geometric Landmarks and Kinetic Constraints

Abstract

This paper mainly focuses on the path planning of mobile robots in complex two-dimensional terrain. It proposes a fuzzy rule-based path planning algorithm for multiple guide points by changing the spatial point-taking method and combining Dijkstra's and fuzzy logic algorithms. In the process of path planning, the existing algorithms have completed the smoothing process of turning point, but when analyzing the angular acceleration and linear acceleration of mobile robot in the process of movement, it is found that these paths are still difficult to meet the motion law of mobile robot. Through the mobile robot Angle range, velocity, acceleration range such as constraints, can guarantee the absolute path is an excellent way to satisfy the requirement of the mobile robot motion, combined with the Dijkstra algorithm, by using a fuzzy logic system based on considering the environment status of path planning, motion is more suitable for mobile robot path. The simulation results show that this algorithm can solve the complex environment that traditional fuzzy inference algorithms cannot plan. In subsequent studies, this algorithm will extend to group path planning and dynamic environment planning.