Obstacle Avoidance of Mobile Robot Using Distributed Fuzzy Control with Imitation of Potential Field

Potential Field 모방 분산 퍼지 제어를 통한 이동 로봇의 장애물 회피

For the autonomous movement, the optimal pat]1 planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. This paper suggests a new method of obstacle avoidment which is suitable in unknown environments. This method of obstacle avoidance is designed with a distributed fuzzy control system, and imitates a Potential Field method. A simulation confirms the performance and correctness of the obstacle avoidance.