A new fuzzy-based potential field method is presented in this paper for autonomous mobile robot motion planning with dynamic environments including static or moving target and obstacles. Two fuzzy Mamdani and TSK models have been used to develop the total attractive and repulsive forces acting on the mobile robot. The attractive and repulsive forces were estimated using four inputs representing the relative position and velocity between the target and the robot in the x and y directions, in one hand, and between the obstacle and the robot, on the other hand. The proposed fuzzy potential field motion planning was investigated based on several conducted MATLAB simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations that the proposed approach was able to provide the robot with collision-free path to softly land on the moving target and solve the local minimum problem within any stationary or dynamic environment compared to other potential field-based approaches.
This research focuses on a collision-free real-time motion planning system for unmanned aerial vehicles (UAVs) in complex three-dimensional (3D) dynamic environments based on generalized potential force functions. The UAV must survive in such a complex heterogeneous environment while tracking a dynamic target and avoiding multiple stationary or dynamic obstacles, especially at low hover flying conditions. The system framework consists of two parts. The first part is the target tracking part employing a generalized extended attractive potential force into 3D space. In contrast, the second part is the obstacle avoidance part employing a generalized extended repulsive potential force into 3D space. These forces depend on the relative position and relative velocity between the UAV and respective obstacles. As a result, the UAV is attracted to a moving or stationary target and repulsed away from moving or static obstacles simultaneously in 3D space. Accordingly, it changes its altitude and projected planner position concurrently. A real-time implementation for the system is conducted in the SPACE laboratory to perform motion planning in 3D space. The system performance is validated in real-time experiments using three platforms: two parrot bebop drones and one turtlebot robot. The pose information of the vehicles is estimated using six Vicon cameras during real-time flights. The demonstrated results show the motion planning system’s effectiveness. Also, we propose a successful mathematical solution of the local minima problem associated with the potential field method in both stationary and dynamic environments.
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