Abstract
A path planning for mobile robot is studied. An algorithm based on fuzzy control is presented and a reasonable and applicable fuzzy control table is constructed. In view of deadlock problem that the local path planning has, the deadlock prevention mechanism is established. When the robot detects dangerous obstacle field which possible causes deadlock, the robot will travel along the edge of the obstacle to escape from the obstacle through the deadlock prevention mechanism, and thus deadlock is avoided. When deadlock can’t be avoided in some complex environments by the deadlock prevention mechanism, the deadlock resolution strategy would be adopted to eliminate the deadlock. The algorithm offers a new idea of the solution of deadlock. Simulation results in several kinds of environments prove the effectiveness and feasibility of the algorithm.
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© 2011 Springer-Verlag Berlin Heidelberg
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He, T., Li, P., Han, N. (2011). Path Planning for Mobile Robot Based on Fuzzy Control. In: Zeng, D. (eds) Applied Informatics and Communication. ICAIC 2011. Communications in Computer and Information Science, vol 224. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23214-5_69
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DOI: https://doi.org/10.1007/978-3-642-23214-5_69
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23213-8
Online ISBN: 978-3-642-23214-5
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