Fuzzy motion planning among dynamic obstacles using artificial potential fields for robot manipulators

Mbede, Jean Bosco; Huang, Xinhan; Wang, Min

doi:10.1016/s0921-8890(00)00073-7

Cited by 42 publications

(16 citation statements)

References 9 publications

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“…B. [8] designed the fuzzy controller with combined fuzzy logic and artificial potential field function and this controller can solve the problem of real-time path planning with dynamic unknown obstacles. With their effort, the efficiency of path planning has significantly improved.…”

Section: State Of Artsmentioning

confidence: 99%

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Liu¹,

Chen²,

Xiao-ling³

et al. 2013

IJMUE

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Section: State Of Artsmentioning

confidence: 99%

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Liu¹,

Chen²,

Xiao-ling³

et al. 2013

IJMUE

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“…This implementation, due the nature of the SCARA configuration, can be simplified to just analysing a 2dof planar manipulator. In (Mbede et al, 2000), a similar approach is presented where an harmonic potential field is used to drive a 2dof planar manipulator to its desired goal, which has been described in the joint space. The cases of static obstacles and that of a trajectory-known point obstacle are presented and successful results are reported.…”

Section: Fuzzy Logic Based Approachesmentioning

confidence: 99%

Soft-Computing Techniques for the Trajectory Planning of Multi-Robot Manipulator Systems

Merchán-Cruz¹,

Morris²,

Ramírez-Gordillo³

2008

Robot Manipulators

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“…Mbede et al [22] have focused on autonomous motion planning of a manipulator in a known environment and with unknown dynamic obstacles. They have used the fuzzy logic to approximate the gradient of harmonic functions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive navigation of an omni-drive autonomous mobile robot in unstructured dynamic environments

Melingui

Chettibi²,

Mbede

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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One of the challenges of Autonomous Systems navigating in real world is to deal with the large amounts of uncertainties which are inherent in such environment while maintaining stability. Higher order Fuzzy Logic Systems (FLS), such as Interval Type-2 Fuzzy Logic Systems (IT2FLS), that use type-2 fuzzy sets, can model and handle such uncertainties, and give good performances that outperform their Type-1 counterparts. However, the complexity and computational time of type-reduction process which is strongly related to Membership Functions (MFs) structure and the number of fuzzy rules limit their applications to simple cases in real-time. Artificial Potential Field (APF) approach due to its elegant mathematical analysis, simplicity and its possibility to take into account the dynamic of the system is widely used for autonomous mobile robots navigation. However, the potential field introduced exhibits local minima other than at the goal position of the robot. In this paper, a new real-time navigation approach where we combine the APF and IT2FL approaches is developed and implemented for an omnidrive mobile robot navigating in dynamic unstructured environments. The novelty of the approach is the association of IT2FL to APF and the way in which the two approaches are hybridized (rule base size reduction). The experiments carried out on an omnidrive mobile robot named Robotino show the effectiveness of our approach.

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Fuzzy motion planning among dynamic obstacles using artificial potential fields for robot manipulators

Cited by 42 publications

References 9 publications

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Soft-Computing Techniques for the Trajectory Planning of Multi-Robot Manipulator Systems

Adaptive navigation of an omni-drive autonomous mobile robot in unstructured dynamic environments

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