모노비전과 퍼지규칙을 이용한 이동로봇의 경로계획과 장애물회피

Obstacle Avoidance and Path Planning for a Mobile Robot Using Single Vision System and Fuzzy Rule

In this paper we propose new algorithms of path planning and obstacle avoidance for an autonomous mobile robot with vision system. Distance variation is included in path planning to approach the target point and avoid obstacles well. The fuzzy rules are also applied to both trajectory planning and obstacle avoidance to improve the autonomy of mobile robot. It is shown by computer simulation that the proposed algorithm is working well.